Having a D/s dynamic with kids is much easier when the kids are little. The older they get makes things a tad more complicated. My Master and I both have children from previous marriages.

I will sit at his feet, on my laptop, or just to watch TV. I enjoy being at his feet, and sometimes I'll lay my head in his lap and he will pet my hair. I also always have a mark on the back of my neck, sometimes he will 'rub' my neck. It's subtle and other people wouldn't have any idea. But, it's a wonderful reminder to me. He also likes to whisper "mine". Which always makes my heart flutter.