Start by drawing a floor plan of your home, marking two ways out of each room, especially in the sleeping areas.
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If you live in a two story house, you may want to invest in a fire safety ladder, available at most hardware stores.
Establish a meeting place outside your home for everyone to report to after they have gotten out (a tree, basketball goal, the mailbox, etc.
Practicing Your Plan
Have a fire drill just like your children do in school.
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Make it as realistic as possible.
Pretend the lights are out and the house is filling up with smoke.
Stay low and crawl under the smoke.
Touch doors with the backs of your hand to check for heat before opening the door. Remember not to open a hot door! Go to another exit instead.
Additional Tips
If you live in a building with an elevator, use the stairs where necessary and never use an elevator, as it may get stuck between floors or worse take you to the floor of the fire.
Remember, get out first then call 911 from a neighbor's house. Never go back into a burning structure once you have escaped.