E.K.
I have worked from home for 6 years and this past one was the first with kids. I suddenly have a commute again because I take the girls to/from daycare each day. The one day I tried to work with them in the house was not a work day at all. They couldn't go to day care because it was closed so we brought someone in. They only wanted to be with mommy instead of the nanny so I couldn't work at all. They are the same way when daddy gets a call he has to take outside office hours, even though I'm still there to play with them.
You can try being home with them & working through naps, evenings, weekends, etc, but you may find that you aren't actually spending any more time with them that way. You also may find the quality of your time together is less because you can't leave the office & you're always thinking about the work things that still need to be done.
On the positive side, I love working from home with my kids in day care because we never wake the girls in the morning. I get up & start my work day. When they get up (usually 1-2 hours later), I stop working for breakfast, play & commuting. If I really need to, I can do a few more things in the evening, but I generally am totally focused on the girls when I'm with them & totally focused on work/chores when I'm not. I get to the laundry & other little tasks during my breaks instead of chatting with officemates.