Actually, I find cycling has become a part of the family's activities.
When the kids want to go to a playground, I bring them there by bike. When they need to go shopping, I do that by bike. This summer, my wife wanted some rest without kids; for most days, we went out (me and 2 kids) to various places around Montréal.
And the kids seem to enjoy it, because many mornings I was waken up at 6:00 by 1 or 2 of them begging me for yet another ride to Cap-Saint-Jacques (32 km one way by the most direct route).
Regards,