The Pets really don't want to see the Liberty Bell, Smithsonian or a water slide. Many attractions bar their presence. Do them and yourself a favor, and make arrangements at a reputable kennel for the time you're away. Ask your Vet for recommendations. It is cruel and oftentimes deadly to subject a pet to this.
Many stores carry magnetic board games such as checkers that are just right for travel.
Be aware of the children's activities and locations at all times. Remind them of the family rules of 'Stranger Danger'. Print out the maps and directions both to and from your destination. If you become lost in an urban area, don't stop on a deserted street to check your maps. Since you're already lost, keep driving until you come to a well light area, or flag down a police car for assistance.