Ask HN: How are you teaching your kids to type?

I've got a few young boys, definitely too young for this at the moment, but I'm hoping to ensure that they become proficient typists at the right time.

When I was younger our elementary school used a combination of Mavis Beacon Teaches Typing, and forcing us to not look at our hands, but I'm not confident that all schools now take this skill as seriously as they should.

Has anyone tried to teach their kids themselves? How did you do it?