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So before you leave, make yourself a checklist of things you need to remember for the trip.
Pack items such as medication, a damp cloth in a plastic bag (or wetwipes), a bottle of water, first aid kit, etc.
Make a CD with a variety of sing-a-long songs for both the adults and the kids before you leave. Audio books are also a good idea. This can be bought at most bookstores.
Kids love surprises... so make up little "lucky packets" with a variety of snacks and small toys. Keep the sugar intake to a minimal and pack healthier options such as nuts, dried fruits, cheese sticks, biscuits. Drinks should be in smaller bottles with resealable lids. Keep a plastic bag handy to put rubbish in and join in the cause and don't litter next to the road.
Stop about every 2 hours or so to take a break. Pack a ball or frisbee and if it's possible and safe, let the kids play with it for a few minutes to stretch their legs and get rid of excess energy.