We did a Greenwich Village tour as the inaugural visit for my 6 and 8 year old. It couldn't have gone better.
We hadn't seen Alex in years and has still not changed, still a great guide, very personable and knowledgeable.
What you get is a very private, unique experience. You'll enjoy a bunch, I mean, a bunch of food, walk off those calories, and see the City in a way hard to do as solo tourists.
I highly recommend it as a way to see certain parts of town, and learn about the area.
I was worried my kids would have a hard time, but they were great, the village had a couple of sweet spots loved in addition to the savory food. We only did a 2 HR tour with them, the half day could be a lot for small ones.
We can't wait for next time.