You can book an instructed session for your family where a Boulders instructor will supervise the session.
You can also bring your family and climb together, either bouldering or rope climbing.
To rope climb as a family, you do need to know how to belay, how to fit a harness, and how to tie a figure of 8 knot. If you don’t know how to do this, you will need to book an instructor.
If you want to boulder as a family, you can do this even with no experience!