I can at least point you toward some friendly outfitters. You and the twins are good to go. There are several rivers with good rafting in Colorado, but you won't find any that require multiday expeditions. There are, however, some like the Arkansas near Buena Vista that have enough river miles to comprise a number of days of one-day trips. You should enjoy this kind of rafting.
Camping is available throughout Colorado, especially near the rivers.
You can order a copy of the Outfitter Directory and Vacation Guide on-line from that site, or connect directly with the Web pages of a number of Colorado outfitters who will also send their brochures. He reminded me that the dad in the movie seemed like an incapable boob at first, but then proved what he was really made of later. Perhaps that's why you dig your husband. Some even offer whitewater kayak instruction. As the rec.boats.paddle responder recommends, peruse the America Outdoors Directory, which has a searchable database.