If you can't find time for longer workouts, there are many benefits to ten minute sessions. I found when I was a young mother, I had more opportunities to be active, as opposed to doing cardio. There are many places within the house that you can do something - lunges while vacuuming, squats while on the phone, calf raises when brushing your teeth, jumping jacks during commercials.
Kids love movement, and when you play with them. Having them participate with you will benefit both you and your children, and you will be modeling such a healthy behavior. Child obesity is a real problem.
I loved this article - it gives us permission as adults to have fun like we used to as children: www.sparkpeople.com/resource/fitness_artic
At the bottom of that article are links to others - the one about the things our kids can teach us about weight loss is another great article to read.