In order to teach your young children to eat well, you need to give them regular table food in its regular form as early as possible.
-As they begin to chew more confidently, serve them the same foods you are eating, only cut into smaller bites.
-DO NOT serve your toddler something different than what your family is eating. Do not have special foods for them. Unless there is some medical dietary restriction, serve them what everyone else is being served. If the food is too hard for the child, cook it more, mash it, or cut it into manageable bites. Serving your child something different is communicating that the child is in charge and they can choose what they want to eat. YOU are in charge of what your child eats.
-Don't be afraid that your infant or toddler won't "like" a food because lots of babies turn their noses up at that particular food. Most foods just take multiple exposures to become familiar and welcomed. Let them see you eating and enjoying that type of food and maintain a positive attitude about the food at all times.
Of course, if your child has allergies then you would have to be more careful about what foods you give them. I would highly recommend getting your new eaters eating regular foods, the way everyone in your family eats them, as soon as possible. Kids learn to eat what they are served. This lesson is much easier to learn when they are very young and haven't yet learned differently.