Team @buffer shares a lot of great tips on how to work from home with kids. I'm working from home with my two daugters, and it's super fun!
I think one of the best tips is this: Be fully present in your current activity.
It means that when you're with kids, be with kids. When you work, concentrate on work. Though I'm not following this advice too often myself as I'm often working from my kitchen table and kids run around, ask questions, we talk, I help them.