Make it fun and have fun yourself. Whether your child continues to play soccer will depend on whether it's fun.
It is very important that your child have their own ball. Your objective should be at least 100 touches (passes, kicks) for your child per session and to be doing something with a ball at least 50% of the time (as opposed to watching you or listening to instructions).
Have your child dribble and kick the ball a lot so they get used to using their feet. Excellent ways to develop these important skills are to have your child dribble through an obstacle course (such as cones, but any objects will do) and simply passing the ball back and forth. Be sure and vary the course. Add the excitement of "beating the clock" or a race when their skills are up to it.
Start teaching your child to use the inside of the foot and top of the foot (i.e., where the shoelaces are) to kick the ball. In soccer, the toe is only used to "poke" the ball (on defense as a way to take away the ball from the ballhandler or on offense as a way to take a short shot near goal). The toe is an inferior surface for kicking the ball because it is smaller than the laces area. It is easier to kick the ball accurately for long distances by using larger surfaces such as the top or the inside or outside of the foot. The instep can be used to kick both low "power" drives or for "lofted drives". Don't expect U-6 (under 6 years old) players to become great at kicking the ball, just try to get them to start kicking with the inside of the foot and the "laces".
Teach the following concepts and rules: