1) Expectations
Start with setting expectations for yourself, then with everyone who matters in your life.
2) Define
What is "work" to you? When do you work? How much should you work? For me, I'm mentally working nearly all day everyday... except for when I'm explicitly not. If I'm spending time with my wife & son, I'm 100% focused in on spending quality time with them.
I've chosen to spend high quality limited time > low quality abundant time with my family.
3) Prioritize
I've dedicated myself to 3 things in my life as it stands today: my family, my business, my health. That's it. I've painfully cut out friends from that equation (not friendships, but hanging out with them). I've cut plenty of other things as well, but it does take sacrifice at the end of the day in some dimension.
You can balance some aspects of healthy life (sleep, exercise, eat right), but that is more about maximizing than balancing.