First of all, by your life. "Let your light so shine before men, that they may see your good works and glorify your Father in heaven." (Matthew 5:16)
If your family only sees you preaching, they'll think, "oh, that's just another religion." But if they see a life that is being transformed, what you were before you became a Christian and what you are now, they'll say, "hey, something happened to this son or daughter of mine." That's how we draw them to Christ, and then we have the opportunity to witness to them.
So, we wait for them to respond to our life and then the ground is dug up and we can sow the seed.