I was going to say the same as Lulu. I've always sat with my kids until they go to sleep.
Whether it be reading/singing/chatting to them or just sitting with either on the bed or the floor and moving gradually to the door.
I know it seems like a waste of time, but they know you're there, they know you mean business.
I've read a few books of a night next to Darcy and meditated, plan my day, do a shopping list whatever quite thing I needed that day.