Start from an early age reading books to your baby, letting them look at books with you, hold board books, feel them. Take them in the car when you travel, make sure they have some in their car seat. I always had them propped up in their crib, so when they woke up, they would see them. And yes, they would promptly sit up (if they were old enough) and begin to "read."
Here are some photos of our grandkids with books, and loving them-