I would advise to go with kids before they become teens. Ideal age would be from 3 to 10.
A lot to do inside, room to run and play outside. Snug Harbor, where museum is located, is surrounded by fields, gardens, and other museums. I used to bring my older son there every 6 months. Now, he is 15 and doesn't want to go out with his mom, but still misses the place and may go again sometime when I bring my younger son there. Just to relax. It's more like a walk in a Central Park with less people and more things to see and to do.
Bring something to eat. There is a cafeteria downstairs and you won't be hungry but the choices are limited. My younger child is a picky eater, so I have to bring something for him. Otherwise, you can have: hot dog, salad, coffee, tea, some fruits, juices, and different types of chips.
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