If we need more guidance than Scripture, let us look first to that witness. The clear teaching of our Prayer Book is that the Church is the whole company of Christ's Catholic people militant here on earth. The Prayer Book provides two additional concrete instructions, on how to accomodate children. On page 544, it instructs the Pastor of every Parish to instruct and examine the children of his Parish after the Second Lesson at Morning or Evening Prayer. If a person 'needs' church for healing or empowerment, they 'need' the children and other disempowered members to be there being the Church.
Parents are incredibly sensitive to unintended criticism.
You know what they mean, and you just don't come back. In my search, I came across two churches, both Lutheran, who were particularly kind to paranoid parents.