We’ve done it a few different ways. We’ve listened to CDs and sang along or I’ve played the melody line on the piano while we sang along. I also have a DVD of songs with lyrics (that I lost in our last move)…If I can ever find it! We work on a hymn until they know the words faily well…usually a hymn or two per term.
Hymn’s for a Kid’s Heart is a great resource if you want a bit of “hand holding”. It has a short story to go with the hymn and a short devotion as well as a CD of the hymns. Some moms just find the hymns on the internet…I’m sure there are tons of free resources.
We like to stick to songs that our DC sing in church…each church seems to have their own favorites and I like them to recognize them during services.