Make sure the adults out-number the kids.
If the grown ups can out-number the kids by at least 2:1, your experience will be more relaxed, more fun and far safer! This is especially true the younger the kids are.
Take other kids!
Kids entertain each other and can allow you to put your feet up for an hour in the afternoon!
Let them bring a special toy.
Bringing the favourite stuffed animal goes a long way to let your child relax and enjoy the experience. Let them portage it!
Make it special!
Bring treats that the kids don't normally get and let them stay up late (well, at least for one night!) Staying up late to watch the stars will be a memory that a young child will never forget.
Avoid steep, rocky campsites.
If your site has a gradual, shallow shore and not a dangerous, steep shore with a drop off, your kids will be safer and your stay will be more enjoyable.
My wife Marilyn and I have been taking the kids on our canoe trips since they were very young. (This may be because our parents did the same with us when we were young...) We have learned a few things. Please do not go interior canoeing or camping with kids if you have never tried it on your own! Make sure that you have someone with you who is experienced and knows the hazards!