To prepare for a journey to a place I have never been before, I find it helpful to consult an expert, one who knows the way, one who can tell me what to leave behind and what to carry with me. To prepare for where God is leading you, it may be helpful to invite him to look carefully at your life and your heart, to show you what to leave behind and what to carry forward. Experience this practice for yourself, and then, if you have children, walk with them through it.
In this practice, you will be comforted by God's presence and intimate knowledge of you. And in that comfort, you'll rely on him to reveal your sins--the barriers between you and him--and allow his kindness to lead you to repentance.