When my children were small, the best way I found was to use Saturday evening for preparation.  The house should be picked up, clothes ready for Sunday, food for Sunday dinner should be prepared, and everyone to bed at a good time.  Sunday dinner was usually a crockpot meal very simple.  Knowing that this is important to God and one of the only 10 things He commands us, it is worth the extra effort.  God has given us 6 days to work and He wants to bless us on the seventh with rest.

I never plan anything to do on Sunday.  Lunch is also dinner and it's usually something that's cooked all night in  the oven or in the crockpot.  Clothes are laid out for church Sat. night.  I don't even like to go out & eat on Sunday becasuse then someone else has to work. 

As a family we never plan anything for Sundays, besides church and family time!

We believe its a day a rest, not of progress!

On Saturday we make sure the house is in "good enough" shape to coast for a day and first thing Monday morning we have a "house rescue hour" to get things back on track. 
We eat a simple breakfast Sunday morning - cereal hot or cold or toast and smoothies.  Lunch we eat simply too - usually sandwiches or leftovers.  Dinner can be simplified by putting something yummy in the crockpot.  Easy *and* makes for a nice homey atmosphere with good smells promising a good dinner.

I would love to make Sunday a day of rest but since I work full time, I only have the weekends to Clean House, Food Shop and get everything done for the week. 

I really never have a day off even when I'm sick.