I've been to the Navy Yard Bistro a handful of times and I've never left disappointed. It's a charming place, a neighborhood restaurant. And the food is fantastic - they do a nice job of keeping the ingredients seasonal. The servers are great, and they need to be in a relatively small restaurant that always seems to be packed.
In the nicer weather, they have outdoor seating, which can be really nice, though that area can get pretty windy, so check on that before you sit down and start having your wine glasses blow over - that happened to me once.
The only drawback is that it's not terribly kid friendly - I think that they only have one high-chair in the place. The last time I went, they had no available high chairs, so they gave our nine-month old (and the 13 month-old in the table next to us) a booster seat, which didn't work out so well.
Easy solution is to not bring kids and just enjoy the great food and atmosphere! Oh, they always have a pretty decent craft beer selection. Not huge, but enough to find something that you'll enjoy.
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