In an interview with the Sunday Times Magazine, Grylls revealed he is "not great at children's games" but his boys love when he gets them to help him pack for expeditions.
The star of channel 4's The Island with Bear Grylls added: "Traditionally that's how parent-child relationships were. If you could rewind 200 years, it was, 'Come and help me in the fields. Help me with my carpentry'.
"Kids want to get involved."
Grylls, 43, and his wife Shara have three boys – Jesse, 14, Marmaduke, 11 and Huckleberry, eight – who he revealed he prays with every night.
The TV star has been open about his Christian values throughout his career.
He previously said children should be permitted to play with knives because it's "empowering" for them to play with something dangerous safely.
Grylls, who is also Chief Scout, said in an open letter to The Times that "every child has the right to adventure".
