Most parents make this mistake. I am among those parents and there is no better time to do teshuva than now.
Don't lecture to your children. They have heard it a thousand times before and it kills true communication. To be understood first understand. Listen. Absorb. Be receptive. Mirror back the child's feelings and thoughts. Then try gently to educate if appropriate at that time [sometimes it's not].
I am a "professional" lecturer. I enjoy it and have lots to say. I will try to confine my lectures to the beis medrash and the like and have mercy on my children.....:-)
Here is a lecture by Dr. Pelcowitz on the topic.