Yes, if you go to rock city, there is a trail that follows along side a lot of Boulders. You can follow the path the entire way which is a bit more difficult but still manageable. Or you could just hike along side the boulders and do some climbing before heading back.
I would agree, Rock City is a great place for kids to explore wind caves and there is also restrooms and campground/picnic area. There is also a really nice, paved short trail at the summit that features infographs and telescopes overlooking the entire area below.
Kids can hike them but it can be dangerous at some spots
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