My wife and I started with a 2 week honeymoon and then 6 - 2 week trips together before the kids came along. We said "why leave them home?"
So for the next 10 years we had 5 kids and never left one of them home.
The youngest we took was 4 months old. It was a blast teaching them about the woods and fishing and the outdoors. We did all of our trips as 2 weeks to the Q except one 2 weeker to Woodland C when our youngest was 4 years old. Kids are amazingly adaptive and if thought is put into caring for their needs first, you can still travel some, ( although less than before ), but keep it simple stupid really works with kids. Don't try to do too much, or go too far, or set too high a travel bar, and things will be fine.
Funny stuff... 2 kids in diapers, 2 weeks + 80 to 90 degree days = 70 lb smelly diaper pack that no one wanted to carry. ( It was triple bagged so it really didn't smell except when you had to open it up to make a deposit )
Good stuff... my girls and boys have all caught fish over 10 lbs and love fishing. My youngest was 10 when he caught a 10 lb W a 12 lb N and a 4 lb B and a 10 lb LT all on the same trip.  Put all of us to shame.

When my kids each have turned 21 we figured out that they have spent a total of 1 year of their life in the Q.

The moral of the story, start them young and help them to have a good time and it will be a life long love affair with the wilderness.

Gene M