Start your trip by hitting the Baga Beach with your kids. Apart from the classic beach activities, it has some good local shops for shopping and restaurants with a wide variety of delicious cuisine. You can also visit the nearby Anjuna Flea Market, which opens every Wednesday and has some unique items to bring back as souvenirs.
Take an early morning drive to the majestic Dudhsagar Waterfalls. Its milky white water rushing down from a height of 1017 feet creates an ethereal atmosphere. The falls are open to visitors from 9:00 am to 5:00 pm so plan accordingly. If you have enough time, you can also visit the nearby spice plantation or the serene Tambdi Surla Mahadev Temple.
Spend a relaxing day at Candolim Beach basking in the sun and playing with your family on the shore. If you're looking for some adrenaline, try your hand at some water sports like parasailing, jet skiing, or banana boat rides. In the evening, indulge in some scrumptious Goan seafood at the nearby beachside shacks or restaurants.
Explore the rich history of Goa by visiting the Aguada Fort, which was built during the Portuguese colonial era. The fort is open to visitors from 9:30 am to 6:00 pm. You and your family can take a guided tour of the fort and learn about the various historical events that it has witnessed. Don't miss the beautiful sunset view of Arabian Sea from this fort.
If you have more time, you can include visits to Fontainhas, the Latin quarter of Goa and the famous Basilica of Bom Jesus in Old Goa. However, you may have to cut down on one or two destinations if you are traveling with small kids or senior citizens as the climbing and hiking activities can be tiring for them.