Careful with parking : there are a few parking places a few minutes walking from the castle. Go through the bridge, cross the Herengracht and turn left.
If you do not want to take the risk, park at the main parking for visitors at the entrance of the town, close to the exit of the A1 and walk. It's a pretty long walk for your kids, but full of charm across the little town.
Main activity : The medieval castle of Muiderslot
Muiderslot
Navigator : Herengracht 1, Muiden
more info : www.muiderslot.nl
At the entrance, by a booklet with stickers for the kids. It describes two routes within the castle in which you can discover stories and games. Very entertaining. It comes only in Dutch unfortunately.
Don't miss out the falconery desmonstration in the garden !
Lunch break : Eethuys Graaf Floris V van Muiden
Navigator : Herengracht 72, Muiden
more info ; www.graaf-floris-v.nl
Tel : 029-42 61 296
Some very nice restaurants along the side of the harbour, but this one is not too fancy. They have a nice high tea.