This is an easy one for me. When I worked as a school Chaplain I just joined in with whatever the kids were doing.
At first the kids thought it was a bit different, a guy in his late 50s running around and being a big kid, but they got used to it pretty quickly. I lost count of times I got asked to join in games.
While at school I played with dolls and cars in kindy, played tag and basketball with the middle school, and footy and cricket with the older kids.
Being a kid at heart was easy for me when you are around kids all day. You just have to join in and have fun and not worry about what the adults think!