For older children: Encourage them to take lead in reading a story in the Bible and encourage them to lead a discussion on what they have learned from the story you have read.
For younger kids: Read a story in the Bible together and then encourage your child(ren) to then retell the story by acting it out. They could use toys to act it out or they could act it out themselves.
Kids teaching others what they have learned is a great way to help them remember the material.