We started off when our kids were roughly 4, 2, and 2. Many of our first "sails" were gentle runs downwind under a small roller furling headsail, only. Didn't even bother with the main usually. No drama, just nice easy sailing.
The only caveat here is that, while running downwind is a nice easy point of sail, motorboat wakes will tend to rock the boat more than when sailing upwind with a full spread of canvas. Just something to keep in mind with the little ones. You might brief them ahead and have a "command" that they should follow if things get wobbly. Maybe tell them to sit down where ever they are and hold on.
This time of year, some thermoses with hot cocoa would probably go over well too. Hope all goes well!
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Pacific Seacraft Crealock 31 #62
NEVER CALLS CRUISINGDAD BACK....CAN"T TAKE THE ACCENT