I recently bought Hero Kids Fantasy RPG from Drive-thru RPG as a way to give my youngest a try at RPGs. We had a great time and even got mom to join in.
http://rpggeek.com/rpgitem/133906/hero-kids-fantasy-rpg
As a follow up I've heard the Pathfinder Beginner Box is also well suited for kids so I picked up a copy.
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I got this last spring. Wizards could really learn from this set on how to put together a real beginners box for D&D.