Well, why are you in a hurry all the time? Perhaps writing a daily schedule for yourself will help some. I did this for the very first time the other day, and it worked great. Start at the top of the day, all the way down to the time you put the kids and yourself to bed. It helps to organize your time, see exactly what needs done that day, and shows you you're not behind schedule, which will help with the "rushing".
i have the same problem and in trying to slow myself down, i found that it stresses the hell outa me and i can not enjoy myself, what im trying now to do is just to think everything through twice and this is going to sound like stupid advice but to just literally change my mind about how i see life. consciously moulding myself to fit the environment i want to be in. i do not think there are any short cuts. what super duper helps though is having activities that one way or the other requires a calm mind. Fishing, Bird watching, making little models or painting toy solders, anything artsycraftsy and taking care of lots of plants. these activities are full of lessons in taking things easy.