I can remember the three restaurant experiences of my childhood. All I wanted to do on my birthday was to go to the Automat in New York... but I don't know if you consider that a real restaurant.
We've been so disconnected agriculturally and culturally from food. We spend more time on dieting than on cooking.
The biggest thing you can do is understand that every time you're going to the grocery store, you're voting with your dollars. Support your farmers' market. Support local food. Really learn to cook.
First, kids should be involved in the production of their own food. They have to get their hands in the dirt, they have to grow things. They also have to become sensually stimulated, and the way to begin is with a bakery.
Organize yourself so you aren't struggling to shop at the last minute. When you have real food, it's very easy to cook.