Find skipping ropes of suitable length of reach of your children and for yourself. Then practise simple rope-skipping until you can all do it smoothly and easily.
Then try new tricks like double-skipping, rope-crossing, and turning. Search YouTube and Google for ideas. See who can master these the fastest.
You can also get two long ropes of equal length and two people turn the ropes while the others take turns skipping. Again, there are numerous variations on the basic skipping pattern – see what the internet suggests.