In reply to cheeky:
I would also put a second bid in for Leigh Tor in Dartmoor which has easy to find routes.
I took mine to Hound Tor for one of their first outings (at a slightly younger age) which had loads of unrecorded (on UKC anyway) micro scrambly routes you can put a rope on. I had myself and my partner there though, as lowering off over some of those granite lips can be a bit nerve racking for little legs. I just walked them off the top while the missus belayed below.
Added to that, it's a cool place to explore as undoubtedly they'll not want to climb as much as you'd like them to. There's an old medieval village remains about 200m away, and following the path downhill, there's a beautiful stream/brook about 1km away, with a rope swing (if you can find it and its still there) and perfect picnicking spots.
And...the true kicker - there's often an ice cream van in the car park.