In reply to Richrob:
Have taken kids to bull scar with mixed abilities around those ages, North facing so might be a bit wet this weekend? It's a cool walk up to it and parking is minutes from grassington. Possibly far for small people.
Rylestone has a couple of really good routes, president's slab etc., But if a walk uphill again but good spot.
There is some unrecorded bouldering on the limestone at knipe scar, between the "east" and west crags. Park in the field at the bottom and it is just to the right when you cross over. Again, super close to grassington and you can go past kilnsey. Wall in not too long.
Brimham is a great suggestion, if pork pies are your thing, call into the pie shop there , or the spar in threshfield also does the same (?) incredible pies, and has a patisserie counter.
Slightly off topic, but if you are after a little walk, then doing a loop down to the bottom of trollers gill, poking round trollers gill cave (headtorch+ helmet useful!) and walking up trollers gill gives a fun couple of hour or 2 with an old mine, trollers, a river to play in/picnic etc., Plus stump cross cafe at the start/end.
Enjoy