When my children were younger I introduced them to Shakespeare by reading them several of the prose renditions (of Shakespeare’s plays)  by Charles and Mary Lamb from their collection Tales from Shakespeare, first published in 1807.  They very much enjoyed the stories, which are literary achievements in their own right, and were better prepared for the study of Shakespeare himself in their later education.  Here is an audio recording of The Comedy of Errors by Charles and Mary Lamb.  Gather your young ones around and see if they don’t enjoy it as mine did.

Comedy of Errors