SO - unless the purpose of the lesson is neat handwriting, keep offering to write for your children until at least High School, and one day, you’ll be hanging out the washing or cooking the dinner and come back to say “OK, I can type for you now,” and they’ll respond, “Never mind - I’ve already done it!” And there, on their screen, will be a whole paragraph they’ve just written and typed without your help.
It’s happened to me 3 times - 3/3. Still writing for my 10 year old.