If your kids are younger than teens, I would never take the canoe more than a few hundred feet from some. Most "interesting" things are close to shore anyhow and being way out in the middle is no fun. Being close to shore makes it much easier to simply swim the canoe to shore and use the techniques described above to empty and right it. That said, I've used a canoe for over 20 years and never come close to swamping it. The trick is don't over load. Two adults and 2 pre-teens in a 16 footer is asking for it. The kids won't sit still and will be in the middle of the canoe where they are more likely to shift from side to side (especially if something interesting is seen on one side). Two people in a canoe is best IMHO.
Secondly, sitting on the seats raises your center of gravity and makes the canoe less stable. Have paddlers kneel and nobody should sit on the twarts or if there is a middle seat, use it as a back rest not a seat. The best way to work with capsizing emergencies is to prevent them.
Also all kids under 16 are required to wear a PFD. If you are wondering away from shore, everyone should wear one. Enough on prevention:
Avoiding panic and having a "drill" on how people react is key. In an example of this past weekend when I showed my youngest (10) how to react if he tips over his kayak (first kayak try), I first wanted him to understand that if he can't show me how not to panic, he doesn't ride period. We spent 20 minutes in shallow water tipping the yak then emptying and repeat to a point where it was fun for him. I had to tip him the first time but by the end he was tipping himself. After understanding how to exit the craft without panic, we talked about "now what?". On the pond we were on, there was only a small stretch of shoreline that wasn't muck and reeds. Whereever he was on this pond, he would have to swim the yak back to the solid beach to right it. I explained it wasn't a race and the yak and PFD would keep him floating...just start swimming...you'll get there. He never did tip over that day but I felt very confident that if he did, he would come up smiling and we would be able to get the yak back.
Handling a canoe or yak is much like a bicycle. It seems unstable and easy to tip when first using but once you ride it for a while, it seems that it would be very hard to go over. The more time your family spends in the canoe, the less chance it will tip. For the first season, keep close to shore and in safe (warm water) conditions. Don't venture away from shore and protected coves until you feel everyone knows what to do and has practices the response to your satisfaction. Target small lakes and ponds with limited power boats on them. They are more fun and less hectic and you only have to worry about yourself. If the family is really really getting into it, take them down the Saco (you can rent an extra canoe from Saco bound if you like) for a day trip. It's shallow and easy to paddle and basically a long beach with sandy bottom. The stretch from Saco bound to the dam should be loads of fun or from the dam to Brownfield bridge. Arrange drop off/pick up with Saco bound.
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