The key is to keep learning from being a chore. If you notice that your kids are starting to whine about your curriculum or a certain activity, change it. Find a different way to get that information across, or leave it for another day. Be willing to listen to your kids and take their preferences into account.
Another great way to foster a love for learning is to let them dive deeply into something they find interesting. If your child is into dinosaurs, let him become an expert. It's OK if he reads about dinosaurs 24 hours a day. Just think of all the science and history and reading skills he's developing. And as he talks to you about it, he's practicing his verbal skills and flexing his comprehension strategies of summarizing, visualizing, connecting and questioning.
Talking to your child about what she's interested in and what she's learning is an excellent way to build higher order thinking and communication skills.
My kids are now out of the house, and I'm glad to say they caught the learning bug. In fact, Peter (now a college graduate) has started a study/research/discussion group with his friends where they get together and talk about their recent intellectual interests, maybe even peer reviewing papers before they try to publish.
That's the goal--adults who keep on learning.
Homeschooling can seem very overwhelming, so keep it simple and keep the end in mind.
I have related post on Simple Homeschool called How to Build a Strong Foundation for Your Child.