Tie one end of a string to a small bell. Tie the other end of the string to the doorknob of any door you want to be aware of when it is opened. In a pinch you can use an animal collar with a bell in it, such as a cat's or small dog's collar. Leave about two inches of string between the bell and the doorknob so the bell hangs freely.
Block the latch on any doors that you don't want children to be able to accidentally lock themselves. Push the latch all the way in until the latch is flush with the opening in the strike plate. Cover the latch with a strip of heavy tape, such as duct tape. Use more than one piece of tape if the latch is particularly strong or is hard to push in.
Mark any glass or sliding glass doors. Children may accidentally run into glass doors and hurt themselves because they don't actually notice the glass. Place several stickers or window decals down low near a child's eye level. Children will be more apt to see the stickers and stop running once they near the door.