Family Friendly near Garden State Plaza?
If you want to make it easy on yourself, Napa Valley Grille isn't half bad, and it's in the mall. there's also a restaurant at Neiman's, although i have no idea if the food is any good.
You could also head East [toward NYC] on Route 4 to Riverside Square Mall - they've got a Morton's & a Houston's there.
Chakra Restaurant on the east side of Route 4 gets good reviews, but it doesn't strike me as a place to take the kids - it seems to have more of an intimate, adult atmosphere.
i'm sure there are some good restaurants off the highway in Hackensack & RiverEdge, but i'm not familiar with those towns, so maybe someone else can chime in.
hope that helps. happy shopping!