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?
1984 Fast/Nicholson 345 "FastForward"
".. 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)