At the end of the day, we've decided to have kids knowing full well what the financial consequences would be. There have been challenges, but we've been able to make it, and I wouldn't change any of the family decisions we've made. Note: the "we" in the preceding statements is absolutely crucial.
After a tough day at school, nothing beats hearing "DADDY'S HOME!!"
I completely agree with norvell. When you have kids you know the financial consequences that can arise, unfortunately there are surprises along the way; you need to accept that. But like norvel says the best part of the day is coming home and hearing those magic words "DADDY'S HOME!!" it takes all the worries away.
I am just getting started in my graduate school and realizing some of the challenges and rewards of doing this with kids. I agree with most posters about going the frugal route. That is what my wife and I have done with our three kids and did not spend anywhere near that $10K some people have put out there. It helps to have some good friends and family to pass along clothes and time to babysit for free. We have been blessed in that regards. There are a ton of ways to cut cost and avoid running up huge amounts of debt.
There is only one other thing that I think needs to be mentioned and I am very fortunate for this fact. You need a loving, supporting, and understanding spouse to be able to make it through this. Working together and have a clear understanding on the situation up front will help save you a lot of time and effort(and $$). I am very thankful to have a wife who is taking this journey with me. It is not always going to be easy but coming home to the kids and her make it worth the time and effort.