I've done some supported bike touring over the years and now that my kids have caught the bike bug I want to do more. Eventually, I'd love to do self supported touring with them but that's many years away and who knows if my danged arthritic knees will hold out that long
I'm thinking of making the Katy Trail our first family mini-tour in three or four years. I know it's a long time out but my kids are only nine and five. At present, my nine year old can easily do 30-40 miles and my five year old does up to 20. My husband has back injuries which only allow for a couple of hours on a bike at a time (which is a bummer because he toured a lot in his younger years), so he'll drive support.
We'll bike for three or four days and then head south for a few days of canoeing on the Current River. Some of my absolute best childhood memories are canoe trips down that river.
The guage of readiness for this trip will be the kids swimming skills for the river. I'm building bike endurance as they become more compentent swimmers.
I've got one of my kids jazzed, now I just have to convince the other one! I'd love to hear about any of your experiences touring with your kids!