Go sailing and enjoy. I grew up sailing and got away from it for about 20 years. Started again after I got married, and started actively about 10 years ago. We have a 46 foot sail boat, and started when the youngest was 2. We went cruising for 6 months from October of 2009 - April 2010 with four kids aged 8, 12, 14, 18 and a 2 year old cocker spaniel. The kids loved it. As they get older they are not as interested, but when we go as a family everyone has a good time. You have to be relaxed about it and be spontaneous, and let the kids be fully a part of it and ask for their thoughts and ideas. We enjoy it a lot.