Keep the entire trip to a reasonable duration. No epic cruises.
I would suggest you motor upwind initially, on a reasonably protected body of water (do you have a wide river or bay?). Then sail downwind to let them experience the feel and pleasures of sailing without the heeling to windward.
If it ends up being an extremely windy day, you might consider just motoring to a sheltered cove, anchoring, and letting them play around on the boat. Even if it ends up being a good sailing breeze, remember to give the kids plenty of time to play at anchor - for young kids it's more about playing on the boat than about the sailing.
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Pacific Seacraft Crealock 31 #62
NEVER CALLS CRUISINGDAD BACK....CAN"T TAKE THE ACCENT