I have to agree with this:

It is ironic in an age of more and more information, ideas via the Internet and books that mothers feel LESS confident and not more confident, isn’t it?
We also do Waldolf homeschooling part-time. My DD attends school for two hours a day and we make this fit in with our daily rhythm. As I said in the Steiner school thread, Waldolf is ALL about rhythm and there is something really beautiful about finding your rhythm. In this day and age, however, it's not always easy, but well worth the pay off.

A big part of rhythm is what is called "circle time". In essence this could be called a focussed activity, where you put time aside to spend with your children and aren't worrying about what chores you need to do, or where you have to go, and aren't doing things where you expect them to join you. We have found that if we do circle time first thing after breakfast, then I don't have to spend my day entertaining my children because I've filled their little emotional tanks by giving them my one-on-one focused and undivided attention. Afterwards I go and do my chores and they join me for a time and then spend the rest in free play. My older one has chores she can do by herself - like feeding the chickens and collecting the eggs, and DS follows me around watching - he particularly likes sitting in the laundry basket while I hang the washing.

If you want to follow a more Waldolf lifestyle, you can certainly add going out to your daily rhythm, but you would have to make sure you had time in your day where you spend time with your children rather than having them spend it with you ITMS.