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It's preferable that you, the operator, be a skilled boatman before trying to teach your children, as this will allow you to teach them the proper way to operate the boat safely.
You and your children, if they are old enough, should attend a boating safety class. In some state like
Teaching a child like this not only will give them some confidence on the road, but will also make then very competent boat pilots as well. Not to mention the benefit of having a new family activity in which everyone can participate.