One of the easiest ways to get kid’s into reading books is to take them to story times. Usually the people leading the activity are super fantastic with children and it becomes a fun, free event! They are usually geared to little people ranging in age from 2 – 6, and occasionally have other fun activities.
Here is a list of what I know of – in the Madison area, besides your local public library:
10:30 Animart Pet Store