I have a 26 year old daughter, a four year old daughter and a three year old daughter to go along with two sons who are ages 24 and five. I raised the oldest two as a single parent and I am raising the youngest three with my wonderful wife.
My oldest daughter was a learning experience for me. I was raised in a family of all sons (five of us) so I had no earthly idea what to do. But, I tried. That is the answer. Try. Don't give up. Be inventive. Talk, share, laugh, love.
I remember one weekend when my oldest daughter was about 12, I put my son to bed and popped popcorn. She and I stayed up late, late and watched the epic "Gone With The Wind". I never really enjoyed the before then and I haven't enjoyed it since then. But I cherished that night.
I have started teaching my four year old daughter to play chess. She loves spending the time with me and she won't let anyone else near the chess set because she says that is "mine and daddy's game".
Try. That is my answer. Just keep trying no matter what age they are.
Pics of my sweethearts are on my web site www.RelaxDad.com where you can also (incidentally) order my new book.