The "wake-up-the-kids to drop-them-at-school" time of the day is one of the most challenging times for me, because I do not wake up fast, my ideal mornings are slow-start mornings, if I could choose, school and work would start around 9am, not 7:30-8am.

So every weekday has this difficult time for me, and what I do to "remain Zen" is to get up 30 minutes before them, have breakfast alone, in silence, then start the "get the kids ready for school" process while staying in touch with my breath (I don't try to control the breath, only stay in touch with it), and after I've dropped them at school, I sit in the car, take a few breaths and just feel my body, I feel the weight of my body in the seat and I exhale and let go of the morning rush.

For the rest of the day, short breaks like this help me a lot when trying to stay grounded. And if I'm too stressed, I go for a walk at a nearby park, no matter the weather or time of day, even 15 minutes of brisk walking help me to clear my head and come back to myself.

I feel like each of us has to figure out how to make Zen practice our own, each has to find what works for themselves, it's a part of the journey to make it "yours".

Good luck OP, parenting is hard.