Finally got my kids interested in actual hiking

We did the Bear Mountain loop in CT last weekend (about 3.5 miles roundtrip) and I honestly thought it'd be a disaster. My 6yo can barely walk normally, let alone on trails. But we made it a whole thing - packed those fancy fruit leather snacks, brought the field guide to identify bugs, let them pick the route at intersections. They actually ASKED if we could go again next weekend. I'm shocked. Anyone else have good 3-4 mile loops in the Northeast that aren't totally boring?