It's easier than you think.
Television shows based on books can get kids reading. Google a list of TV series based on young adult books. Watch the first episode, and then encourage your kid to read the books to find out what happens. You could do this with Lemony Snicket’s A Series of Unfortunate Events.
Try different things until you discover what works for you and your family. After all reading is not only great for your child, but a great way for you to connect as a family.