Playful Parenting is a great book. Your toddlers are a little young for some of the ideas to work, but it might give you ideas.
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Here's the deal: You don't have to initiate the play. Sit yourself on the floor and observe their play. Let them lead. Then, when you want, begin to take part in their play. It's pretty hard to sit next to a toy barn and not pick up that cow and say "moo". If you spend 20-30 minutes a day on the floor with them, letting them lead, that's all you need. (And you don't even need to do it every day.) As they get older, you can find your niche -- you can bake with them, do crafts, take them for walks, etc. It's nice to have parents who have slightly different roles. (My dh doesn't play much pretend with the kids. That's my domain. He does other stuff. It's OK.)
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Or, if you don't even have the energy to sit on the floor and pick up that cow, then take them for a walk (no stroller). This is a toddler walk. You'll get about 2 blocks in 20 minutes. It's OK. Let them explore, talk to them about what they find. Carry them when they get tired (so don't go too far, or you'll be staggering home!). My son's favorite thing to do when he was 2 was to go up the street and splash in the big puddle. I didn't do much other than say "wow! look at all that water!" He was in heaven, and he was getting positive attention. (He's 10 now, and still remembers that puddle fondly.)
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And because these pictures are so cute, I can't resist:


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