I Am a Fan of "Linkin Park"

You can counsel your kids by being there for them. You can counsel them by getting them professional help if need be. You can remind them that you will always be there, especially when things seem impossible. Depending on their age you could even say that you struggled with those thoughts in the past, but that it gets better -- even if you arent as healthy right now as you want and deserve to be. But most of all, you can listen.