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All these are good suggestions, and having only one kid who's now in his mid-20s, i would humbly suggest:
Let the kid steer, watching the compass for a course. Works better than you think. then let the other kid, if there is one, handle whatever else happens on deck, with "adult" assistance as needed.. then switch kids (they're very competitive) and repeat. Whatever you think needs to be done, tell the "free" kid to try it, and assist only as needed. Praise both kids for whatever they've done, no matter how small, they like it.
At some point, you have to let them go below and slack off, but occasionally call them on deck for a lifejacket drill.
That's about all I have to say, as Forrest Gump once said....
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