Have a quick, hearty South Indian breakfast before the drive — choose Saravana Bhavan (many outlets open ~6:00AM) or a hotel tiffin/packed breakfast if departing before 6:00AM; this gives energy for the long first drive.
Begin the southbound drive toward Tiruchendur; this leg is the longest single push of the morning so leave early to beat traffic and arrive for morning darshan at the temple.
Visit the famous Tiruchendur Murugan Temple; the morning slot (temple typically open 4:00AM–1:00PM) is ideal for family darshan and a short walk on the adjacent shore.
Enjoy a family lunch at a clean local restaurant near the temple — try a coastal thali or plain meals; restaurants near the temple usually serve fresh seafood and vegetarian options (open from 11:00AM).
Head east toward Rameshwaram island — the drive crosses scenic coastal stretches and the Pamban causeway area; plan a short tea/leg-stretch stop en route.
Stop to view and photograph the iconic Pamban (Annai Indira) Bridge and the rail/road connection to Rameshwaram island — a great family photo opportunity and quick stretch stop (viewing always open).
Visit Agnitheertham (the sea-side bathing ghat) or drive to the Dhanushkodi viewpoint if time allows — both are open-air, good for kids to experience the sea and local coastal scenery.
If the evening puja/closing times align (typical evening opening ~5:00PM onward), enter Ramanathaswamy Temple for its famous corridors and sacred tanks — check local timings on the day as hours can vary.
Have an early dinner at a family-friendly hotel such as Hotel Karnataka or a clean local restaurant serving thali and seafood; many places serve until about 9:30–10:00PM.
Begin the long overnight drive southwest to Kanyakumari to reach for late-night rest and to catch sunrise/sights the next morning; this leg is long — share driving, stop for breaks, and expect 5–6 hours on the road.
Arrive and check in at a comfortable family hotel in Kanyakumari for rest; next morning you can visit Vivekananda Rock Memorial, the beach and sunrise (ferry timings start early around 6:00AM).