Sundaes on Sunday?

Does anyone out there struggle with the do's and don'ts of Sunday activities? I mean, I know all of the Sunday school answers and I think I understand the purpose of the Sabbath day. And in my mind I do want to spend my time pondering the scriptures, having family scripture study, writing in my journal, writing letters to far-away family and friends, doing geneaology, etc. But I guess I just never make it happen. Sometimes we do get a few of those things done, but most of our time is spent preparing for and recovering from church, family nap time (which is sacred), and preparing for and recovering from Sunday dinner with extended family. I always kind of feel like someday I will get it all together and do everything right, but that day is certainly not now. I really, really hope in the end we get judged on our intentions and not what we actually accomplished.
And what restrictions do you place on what you let the kids do? I do try and focus them on what they can do and not what they can't do, but do you let them shoot hoops if they want, or watch TV?
Today I sat outside in the beautiful sunshine and read scriptures. Of course, it was only a few minutes before two of the three were climbing (and fighting) on my lap, but when all is said and done, I wouldn't have it any other way. I love that no matter how lacking a parent I may be, at the end of the day I have three amazing people who still want to sit on my lap. Kind of makes it all worth it.