Welcome to Sailnet... lots of good stuff here about sailing with kids, and plenty of people that strongly support and promote it.
How old are your kids now?
".. there is much you could do at sea with common sense.. and very little you could do without it.."
Capt G E Ericson (from "The Cruel Sea" by Nicholas Monsarrat)
1984 Fast/Nicholson 345 "FastForward"