If this is what you want to do then I strongly recommend that you book with one of the 'biggies' (Hoseasons etc), I've done about 8,000 miles of the European inland waterways (which is a lot at 4mph!). You will have no problem finding historical bits. Entertainment for the kids is a different matter, often mile after mile of nothing and large stretches between towns meaning that in the more remote areas it is difficult to route plan. Either there is only 10 miles to the next town so next to no cruising, or it is 10 - 12 hours motoring meaning early starts, late finish and the possibility of spending the night in the middle of nowhere if you miss the last lock (the lock keepers sometimes finish a bit early).
The big companies are usually based where the can give you 'recommended routes' including circular ones so life is much simpler. The north east up towards the confluences with Germany / Holland etc. is interesting. Routes to the Med are often like motorways when it comes to lock scrambles, giving way to commercial travel at locks etc. Get some brochures and come back to me with any ???'s if you like.
