If you are teaching your children history and you would like it to come alive for them I highly recommend any of the books from The Living History Library. They make history fun and tell it through the story of a child living in a given period of time.
We have read quite a few of these stories and have just finished Augustine Came To Kent and Beorn the Proud.
These chapter books are fairly advanced for many elementary children but they are perfect for reading out loud.
The website has this series organized chronologically and also by grade level. Here is the link: