Children can start learn division from sharing things or grouping things. Every time when parents bring some cookies or bake them, you can ask your kids to divide cookies equally among the family members.
If you have baked or brought 10 cookies and there are four family members, ask your kids to distribute equally and let you know how many cookies for each person and how many remainder.
Alternatively, you can give two empty plates to your kids, ask them to distribute equally and let you know the cookies numbers in each plate.
Daily routine activities often provides the best opportunities for your kids to use math concept and try out in many different ways.