yeah, I ditto the just keep going advice. Just make it a family tradition to go every week. And the funny looks will turn into excitement, especially if the church home is where your family is supposed to be. If it's not a fit for one of your kids or husband, try another church home. My 4 yr old son absolutely loves going to church -- he shouts "hurray, it time's for church!" He loves the songs and activities they do.
Is there a kids' program for your kids to do while "big" adult church goes on. Sometimes the main church service is way over little kids' heads and it seems boring to them to sit still that long. My church offers a children's program while "big" church goes on...and basically it's church for little ones -- worship songs done their way (with dancing) and kid activities, storytime....even playtime.
Soon you'll make friends there and so will your kids and hubby. As for you and your husband, try getting involved in a small group or Bible study so you can meet others in the church.
I've made some great lifelong friends at church .... they really know ME, the real me....and they love me anyway.
Also, go out for an exciting or unusual lunch after church... like going to a pizza buffet, Lubby's or even McDonalds. Those are great family bonding times to talk about what happened at church.
Whatever you do...don't give up. Church .... a relationship with Christ strengthens the family and will bring you closer. I've already had great deep spiritual conversations about God with my son. It's so amazing.