I have not circumnavigated, but have cruised a bunch with kids. Before I (or we, including many others in this forum) could even begin to answer your question, we would need some information from you... like how much have you sailed? How many offshore runs have you made? How many of these included kids? Have you ever lived aboard with kids? Storms? Timeframe? Boat?
It might seem like a simple question you asked, but if you scroll back through previous threads, you might see it is pretty involved.
I will try and answer the best I can with your answers. Thanks.