Stations of the Cross are a lovely Lenten tradition. It the devotion, we make the journey to Calvary with our Lord Jesus Christ, focusing on how he suffered for us and his interactions with those he met on the way.
We were at Stations of the Cross last Friday and there were many families there, some with young children. Although the children might not have understood every word, I think they did soak in some of the experience.
If possible, actually walk the stations rather than staying in the pew. It gives it the feeling or really being on that journey with Jesus. And it gets you closer to the art for the stations so you can see the details. Seeing the art close up can really enhance this experience.
If you cannot get your family to a scheduled stations of the cross devotion at your parish, you can also do it on your own. Do it in your own parish church or chapel sometime when it is open. Many areas have outdoor stations of the cross which you can visit on your own time. Check with your local diocese, shrines, and retreat centers. You can even do this devotion in your own home. Create your own hand drawn stations of the cross and then walk the way with Jesus. The USCCB has some different adaptations of Stations of the Cross which you can use if you do the devotion on your own.