It does not matter what books you choose.
Sit down in a comfy environment or curl up in bed all together as a family, and read aloud. A chapter or two a night (always leave them wanting more). At first they will probably not listen. Keep at it: by the end of the book they'll probably be able to tell you exactly what happened even if they don't appear to be paying attention.
Repeat with a different book.
Choose books you like. Use different voices for different characters. Don't read aloud too fast. Make the magic happen.
Next thing you know, they're rereading the same books, then moving on to similar books.
Or, they just don't like you books and start gobbling up regency-era comedies of manners. That's OK too.
First, you need to light the spark by taking the words from the page and putting the voices into ther heads.