Have a look at Vornheim. It's not an adventure per se, but a city kit with maps, NPCs, and adventure ideas. From the same guy who wrote A Red and Pleasant Land.
Roguish Archetype: Stiletto (Homebrewery draft, seeking feedback).
Intent is to create a high-risk, high-reward knife fighting rogue with martial training. Any constructive criticism is much appreciated.
Your kids are the perfect age. Mine started last year at 6 and 8. Lots of great advice in this thread. To add:
Consider a hex mat. We got a huge one from Chessex that we spread across the dining room table. This enhances the communal feel and now our kids draw their own dungeons & encounters...