There are 101 ways, and more, to prepare our children to serve missions. The most important is to show our love for our Heavenly Father and Jesus Christ by serving our fellow man.
Each parent can receive inspiration from the Spirit to know what is right for his/her family. We prepare one step at a time, not in quantum leaps. Our children need to be well-rounded—in Heart, Might, Mind and Strength (D&C 4). We prepare best by participating 2gether.