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I would say age two is a great age :)
There are many Catechisms out there. We like this one the best. We were doing our catechism a while back and for some reason got busy doing something else. We finally picked it up again and it's fun because my 2 yr old can now join in. We learn one question and answer a night and then read the scriptures that support the Q&A. Catechism is great because it develops a fundamental understanding of God, sin, salvation, prayer, the Bible, the church, Heaven and Hell.