I let mine out every morning for a couple of hours. I keep the door closed so they can't have access to their food. Usually, when I want them to go back in, I call them and they come running. I head to the coop and open the door and they usually come running inside. It doesn't always happen this easy though. It may sound a bit harsh, but they don't like getting wet, so when I'm in a hurry to leave for work, I spray a stream of water toward them and they go running for the coop. We let them out in the late afternoon evenings too and they are usually ready to go back in when it's dusk.
It's fun to watch them go about all over.
Monica