My family has traveled quite a lot in Europe with children from small (age 6) to large (age 18) with children.
1. Children's individual natures 2. Feeding early and often-- (there's a funny family story. We arrived in Paris after a week in England with my daughter aged 7. We went down to breakfast at the hotel, my daughter put milk on her cereal, put a spooon ful in her mouth, said "Yuck! there's nothing good to eat in this country!"
We realized she'd never had whole milk before, being a family of non-fat-milk users, and so thought it was yucky.
We went across the street to the fruit store and had the most marvelous apricots for breakfast. She learned to say "Bonjour Madame" to the shopkeepers and loved Paris.
3. Seeing the sights in age-appropriate ways.
--actually one of our family traditions is when we travel, eating in McDonald's at least once in each country. The kids were astonished by the McDonald's--in Paris, what, wine and "fancy" salads at McDonald's?--in Hawaii, what, rice bowls?
There's a marvelous travel book called "Heidi's Alp" by an English woman who packed her family into a motor home and made a tour of Europe. It may be out of print, I don't have time to go look it up, but check it out. I can't at the moment put my hand on it, its probably at my sister's, but traveling with children is a neat thing to do as a family.
So, by all means, go.