[PorscheGAL]

How old are your kids? We took our son to Rome when he was 10. No tours. I am a extreme planner. Here is my advice:

Europe has some of the easiest streets to walk. Make a plan before leaving the hotel of the direct route. If you have any sense of direction, it doesn't take long before you don't need the map so much.

Narrow down the museums and sites you want to see. Most offer the ability to pre purchase tickets. Do this. You can usually bypass any lines. The Louvre is huge. You could spend all day (which you won't) and not see everything. If the kids need a bite to eat the museum food is pretty good. Choose the exhibit they would most be interested in and hit those.

Allow time mid afternoon for some down time back in the hotel.

Be careful of the street sales and Gypsies. They were much more likely to approach us with my son there. They didn't talk to us. They went straight for my son, asking his name and other things. As a parent can be very concerning.