The best hikes with children are short, interesting hikes that keep the children interested and make them want to come back outdoors again. Remember, you should gear the hike to your youngest child's abilities. A child aged 2 to 4 can only hike about 1/2 mile to a mile or two, so don't expect them to hike for hours.
Kids like to stop every few minutes to rest and explore, plan for breaks about every 15 to 20 minutes. Pick easy, flat trails, especially in the beginning, and leave the strenuous trails for their older years.
Another way to keep the children's interest is to take self-guided nature hikes, where they follow a map and find different locations on the map. This keeps them interested, and they'll learn about the natural world at the same time. The best hikes with children are the hikes that make them want to go back and do it again!
One of the things to remember about hiking with children is how far they can hike in a day. Adults in decent shape can do 10 or even 15 miles if they push it, but children cannot keep up with that pace.
A good rule of thumb is not to plan more than five miles for the kids in one day. That won't stress them, and you shouldn't hear any whining at that pace, either. Another good rule of thumb when hiking with children? If the kids are whining and cranky, they may have passed their endurance level, and if your body is stiff and sore, it's a good bet the kids are feeling the same way or worse!
When hiking with children, don't go too far too fast, or you might just turn them off hiking for good!