If besides all the opportunities and obligations mentioned before, families do live in the presence of God, they should, by faith, apprehend that presence. It is God’s will that families as such should solemnly worship him. The former is true, and so therefore the latter. 

The consequence of the major, which alone requires proof, I prove by an argument a fortiori, from the honor due to all earthly governors. When a king, a father, a master are absent, actual honor to be presented to them is not due because they are not capable of receiving it (further than mediante aliqua persona, vel re, which bears some representation of the superior or relation to him); yet when they stand near, it is a contemptuous subject, a disobedient child, who will not offer actual honor to them. Now God is ever present not only with each person as such but also with every family. As he is said to walk among the golden candlesticks in his churches, so does he in the families of all by his common presence and of his servants by gracious presence. This they easily find by his directing them, blessing the affairs of their families. If any say, “We do not see God, otherwise we would worship him daily in our families,” I answer, faith sees him who is invisible. If one of you had a son who was blind and could not see his own father, would you think him excusable if he did not honor his father when he knew him to be present? We know God to be present, though flesh is blind and cannot see him.

The Godly Home - Richard Baxter