Tips for climbing/rappeling for kids:

right size harness (kids)

Let them watch how you do it first, involve them in some easy and basic tasks.

include them and explain them what you're trying to do and why

make sure you're with people who knows or certified in how to set up top rope anchors, belay techniques and rope work

chose easier route for kids 'appropriate reach for hands and legs with friendly holds.

start going to a climbing gym with your child before you venture out with natural rocks.

make it hand on, carry extra slings or other devices for your child to  practice with.

explain basic safety and discuss with your child i.e hydration, regular breaks, warm ups before you climb, first aid kit, history of place, kids like the attention and responsibility they get and they will be very happy to help you and remind as well.

make sure to take permission from local authorities before you do anything whether their policies allows for kids at that age to climb.

make sure you've got appropriate clothing (decide based on seasons and duration of your day)

have other alternate activities for kids ( board games, writing and drawing materials)

educate and be familiar with poison ivy and lime ticks

set boundaries ( make sure she/he is running around while you're belaying your partner)

be respectful to other climbers

what not to do...

don't force kids

don't plan for long days with one activity

don't take your children to when you go for setting up anchors.