So we did, and he took us swimming, ice skating, sledding, we had sock fights (with rolled up knee socks) and cooked breakfast together.
During the summers he did most of his business via the telephone from his home office. He was nearly always available for waterskiing or whatever other bit of kid-fun popped into our goofy little heads.
I think, if I asked him, he wouldn't be of the opinion that he gave up anything to spend time with his family. I think he'd tell me that "giving something up" is what you do when you replace it with something you want to do less.
From here it looks like he just went with the flow. It was simple, he lived by the rules he laid upon his children. We all did what we "had to do" (work, school) when it was the time to do it. And then, we were free to play the rest of the time.
Edit: to clarify Dad's employment status.
Thanks for posting this. As a parent of small kids, this is pretty much well what I'm doing right now, and it's lovely and reassuring to see that your father's scheduling worked out for you.
Before kids, being able to define my own working hours was awesome; now with small children, it's working out really well, and "being there" is a noticeable quality-of-life thing, especially when you're not having to ask for a boss' permission to do so!
not being an entrepreneur likewise doesn't mean that it's happy family time, all the time.
Some folks want a relationship with their children, others don't.