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There are many ways to work on vocabulary while having fun and doing your family thing. If you enjoy family board games, many are available that are fun and educational and your child won't know he/she is learning! Some games include: Scattegories Jr., Outburst Jr., Tribond Jr., Would You Rather, Blurt, and Apples to Apples Jr.
While cleaning up toys, practice categorizing items by color, shape, function, or parts.
Talk about how you sort laundry or dishes into different groups. Accidentally add a wrong item to a group and talk about why that item didn't belong. Was it different shape? Different parts? Different function?