You plan.
I 'write' in my head while I'm doing other things - walking the dog, commuting etc. Then when I sit down to write it's already all there and I'm just putting it on paper.
I also find that while it's hard to get an hour solid to sit down and do anything, I can easily snatch 4 lots of 15 minutes during my day to write a page, which means I'm still putting down about 1000 words a day.
This technique works for me too. I'm busy looking after a 5 yr old and a 3 yr old, but it makes me happy to have a knotty ball of plot or character in my head to untangle over the course of a few days. When I get a clear hour or two I sit down and write a short story. I could probably get better at using notepads for the great turns-of-phrase I inevitably forget, but apart from that I don't find it hard being both a writer and a mother.
I don't push myself to the limit, waking up super-early or anything like that (perhaps when my kids are older and don't climb into bed with me at all hours anymore.) I just try to be smart with my time and focus mostly on the things that are very important to me. I guess my family, friends and writing are my 'big rocks'.