My mom did a great job of teaching us how to cook growing up. She came up with a great idea that everyone had a night to help her with dinner. We set our nights according to our schedules - my night was Monday.
When we were younger we would help her pick out what to have at the beginning of the week so she could get the ingredients when she went grocery shopping. This taught us meal planning. On our night we would work in the kitchen together to prepare the meal. When we were little we would just add things as my mom measured them out. As we got older we would learn how to measure ourselves, and eventually read the recipe.
Once we were teenagers we were in charge of planning the meal ourselves and responsible for cooking that night. My mom was there to help, but we were in charge.