Inquiry based Teaching and learning

I wonder how to teach Math curriculum/concepts by interesting, motivating inquiry based approach?
I also wonder how to develop curiosity or how to motivate students to inquire regardless of their emotional, physical and social boundaries?

The Power of Inquiry:
I really like the well said words in this book. Learning is like a river that is choppy and fast moving on the surface, but moves more slowly in its depths. Activities on the surface is easy to see, however activities lower down is harder to see.