It depends on the context of the situation that you may have. If you need to display all of the children when displaying the view for the first time, then add the view controllers and views in viewDidLoad ( if using a xib or nib) or in loadView ( if done programatically). If you need to show the child view controllers on demand, like after the touch of button, then you can add the child view controller and associated view in a separate method.
You will need to layout the views of the child view controllers as you would layout any other subviews. Remember view controller containment is just another ways of allowing you to modularize your code.
Check out this link which helps explain how to add the child view controllers: Animate change of view controllers without using navigation controller stack, subviews or modal controllers?
Here is a simple sample project that shows how to add child view controllers:https://github.com/toolmanGitHub/stackedViewControllers
Good Luck!