OM said pretty much exactly what I was thinking, especially:
  • Take your time and explore.
  • Make it an enjoyable experience for them (get them hooked).
Also remember that every kid is different. Some kids are naturally adventurous and want to explore. Some may need a little more time and patience. Be sure and listen to them, and I bet they will come to love the outdoors and hiking. I can't stress enough how important it is to imprint positive first memories on them if you want them to keep enjoying it later in life.
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The journey is more important than the destination.