Exercise should now be a part of their lives, at this age there is so many benefits. It increases the strength of their immune system by making a child less prone to minor injuries and infections which in time means less time off school. It improves the appetite which leads to the children eating a balanced diet and therefore prevents suffering from any deficiencies and along with the balanced diet keeps obesity at bay.
It's really fortunate that children do not have to limit their exercising to gyms and specialized classes. There are so many activities that would categorically fall in the 'playing' section and they would yet be giving kids all the exercise that they need.
For children at this age just playing is what they enjoy any kind of physical games are great for your children. Take them to the park and let them run around playing different games like tag or doing obstacle course through the park using the climbing frames and ladders.
More Information:
Why is Exercise Important for Children