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Yuppy said..
What is the ideal age to start kids?
As early as possible.
My Youngest son was handing off the rails of his bunk bed since he was 2 years old shouting "look daddy, I'm windsurfing".
Take your family with your when you go on the water. Let them see what you do. Don't force it on them.
The kids will think you are a super hero and want to do it all on their own accord.
Its good to have kids windsurfing gear at home, rigged up to a board in the back yard along with other toys they may have out there. They will play with it and pretend that they are windsurfing from ages 2 and up.
So it starts well before you are even on the water.
When they are 3-4 you can strap life-jacket to them and take them on a paddle on the bay. Small distances and not too deep so they don't get scared. This will get them used to the water and the feeling of rolling over small chop.
Finally when they are around 4-5 they should be ready to try getting on the water. Big board and small sail. You would have practised up-hauling and gybing with them on dry land dozens of times. Then its just muscle memory.
At the kids club we go though some simple techniques on how to communicate with your kids on the water, so they understand the instructions you give them. Its both for the parent and child to learn these together.
The next most important thing is the social aspect of it. Kids want to be around other kids doing the same thing. When kids do it together, its fun. When its dad barking orders at me, its not.