My kids are 9 and 11 and have grown up at the end of the Gunflint Trail.  My son fishes from the dock all day long and loves to go camping, fishing, canoeing, kayaking and boating while my daughter never wants to.  
Sometimes I drag her along and she whines and complains but other times she enjoys herself. Even if she is crabby or won't talk to me at least she isn't sitting in front of a computer or watching television and she can't stay mad forever.  The wilderness is a wonderful place for kids whether they realize it or not.
I love to take my solo trips too, or paddle and camp with just my husband.  When I get back from a trip I'm always a better parent and am more relaxed and appreciative of things.  
There's only going to be so many years I can paddle with them, so if I have to force them to come along with me a few times then I will.

Happy PAddling!