Deut 6:6-9 (ESV) And these words that I command you today shall be on your heart. You shall teach them diligently to your children, and shall talk of them when you sit in your house, and when you walk by the way, and when you lie down, and when you rise. You shall bind them as a sign on your hand, and they shall be as frontlets between your eyes. You shall write them on the doorposts of your house and on your gates.
We are instructed to teach their children the commands of the Lord “when you sit in your house” (at mealtimes or family gathering), “when you walk by the way” (when you go out with them), “and when you lie down” (before you go to bed), “and when you rise” (first thing in the morning).