With my grand children
I did put a special effort to bring half baked bred that they did finish baking, then we eat it together: they loved the fresh baguettes.
Then, I listened and looked to what they wanted to do, and finally participated in it: they were so happy to teach me how to do and so happy when I did also succeed - even if not as well as they did.
Finally, for the first time for long, not only did they come to kiss me before I left but did agree that next time they wil be coming to my place. "Prepare a jelly! Popcorn too? Yeees!" Next time, we come!
Preparing for it, listening, speaking a bit quietly when needed, participating, and all went better then last times.
ps And of course, that picture is not of them, they are a lot more grown up by now, 10 and 11 already. But today, I am a bit more confident in my communication competence.