I can't really speak as to the "protocol" for doing this, but I commend your diligence for wanting to do this - and for your family to do this! I do this with new boats that I get - sailboats, canoes, even larger power boats - and each season for PFDs.
I recommend you do this as close to shore as possible - but in enough depth to give you the practice dealing with the situations when you cannot touch/stand on the bottom. Start in shallower water, pretending that you can't touch the bottom - and then when you get that worked out, move onto the water you can't stand in.
The big thing to learn/practice is - righting and getting back in the craft. You will undoubtiby learn stuff you need to know. For example, in my sailboat, I needed to add a couple of cleats to the hull to tie a line to to haul myself up. In a canoe, you might need to carry a spare line - (maybe with some loops for leg-holes) with you. On my larger boat - can I reach the latch to let the swim ladder down if needed? Do I need to change the latch?
You need to learn these lessons and equip yourself properly before you find yourself out in the lake doing it in the "real-world".
Other skills just need to be worked out- for example - maybe your kid's and Wife will need to hang on to one side of the canoe, while you climb in on the other. Again, best to have the procedures all trouble-shot and worked out ahead of time.
Additionally, maybe your kids' PFDs don't give great buoyancy, or quite hold their heads far enough away from the water for weak swimmers in choppy waters. Furthermore, over time - people get heavier, and PFDs loose buoyancy!
Another important part is just getting everyone used to it - so when/if it flips - there isn't immediate panic. In reality, tipping a canoe can be fun - but if it's your first time, and by accident it can cause panic - which is the last thing you'd want in the situation. Get everyone acclimated to it a bit, and if it does happen, it'll be no different than one of your practice drills.
My kids were freaked out about the possibility of the sailboat capsizing - or falling out of the boat, etc. We went through some of this stuff - now they are quite comfortable with it. They even beg me to jump in and let them swim to shore (with their PFDs) as we get close to shore.
So again - reading up on "saftey" and taking courses and exams and stuff are good - but none prepare you for the real-world aspects of what you'll need to do when the time arises. I commend you taking the time and attention to do this.
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