In the very beginning, it's loving, gentle touching & holding your baby, lots of smiles and baby talk. As they grow, be sure to be consistent with your guidance, as they quickly learn if "no" really means no, etc. Later, it's so important to instill family core values. Begin and keep as many traditions as you can. They will remember them very fondly for the rest of their lives.
And always give them your love and "quality" time, set aside for just you and them (this does not include running around dropping off and picking up at soccer games, etc). Rather special quality involvement.
You will need patience and time for yourselves to rejuvenate, because "when the parents are alright, the kids will be alright."