I run the chess club at my son's grade school. We get 5 years olds who come. I quickly explain and show them how each piece moves. Then I have them start playing.
At the start, I basically suggest moves but have them physically move the piece. At the start especially, I deliberately make dumb moves so they can take my queen with a pawn, etc. I say, oooohhh, I blew that! They really like that!
You'd be surprised how fast kids pick up chess. A few of the older kids, I show them some moves I've picked up on Youtube, etc. I teach them how to castle.
I try to explain in terms they can understand. For the girls, I tell them that the king is a wimp and the queen is the most powerful piece- chess is about girl power! I tell them the point scheme- a pawn is a first grader (one point), a rook is a fifth grader (5 points).
I taught both my kids how to play at 5 this way, and they are pretty good. Then just play with them and they will naturally get better.