There are coach tours covering offering Kyoto Highlight tour. Those coach tours normally take up to 50 people. Because of the size of the tour, you do not have enough chances to ask questions to guides. And you cannot stay in one place longer even if you want to.
A private tour seems expensive, but thinking about the amount of information you get from a private guide, the schedule flexibility, more chance to explore off-the-beaten tracks, it can be more value for money. This is even more so when you have children.
The ordinary places to visit can include: Gold pavilion, Nijo caslte, Kiyomizu-temple and Gion. But there is no set-tour. Go at a pace that suits you and see the places which interest you most.
Children can go to a “Monkey Park” to feed monkeys. If you have read «Memoirs of the Geisha» or seen a movie «Sayuri» and wish to explore more in Gion, I am happy to give you in-depth talk of the town.
If you are interested in cooking experience, I can recommend a cooking class.
My tour is based on taking public transportations plus taxis where appropriate. But if you wish, I can hire a taxi (for up to 3 people) if you would like to maximize your time in Kyoto
The listed excursion sights are just sample. I am always happy to include the places/interests you specifically wish to see.