Force kids to pray?

Force kids to pray?

I have kids that are in elementary school and I've made it very clear to them that praying is important. They usually pray Fajr late (after they wake up) and skip Zhur (because of school) but the rest of the prayers we do at home as a family or at the masjid. However, getting these kids to pray (as well as read Quran) is really hard and I feel like I'm forcing them. They aren't focused at all during their prayers and just waiting for it to be over. Most of the time they only pray after whining and complaining. Will forcing them push them farther away? I'm so conflicted on how to deal with this because my parents forced me to pray and I'm now a regularly praying adult but what if that doesn't work on my kids? We are trying to lead by example but it's not working. If I let them not pray then they will get into a habit of not praying and that will translate into adulthood. My oldest is starting to talk back to me now too. He'll say stuff like, "if you don't respect me, I won't respect you". His meaning of "respect" being just letting him do what he wants all the time. I have no idea what to do and this whole parenting thing is really hard for me. 😔

How do I get my kids to genuinely love Allah and want to please him?