Before anything else, glad y'all walked away and will heal quickly.
Try to stay ahead of back pain, you won't heal quite as thoroughly as your kids will.Pointless to stress yourself wondering. It will not help you or your kids now or in the future.
Instead, go find a parking lot, the less occupied, the better.
Always carefully, and too slow at first, practice threading the vehicle through 'obstacles'.
When it came time to teach my nephews, the best 'obstacles' were highly reflective road cones about 3ft tall.
Too short is useless, but too tall will not let them learn about the vertical blind spots.
Separate each cone by at least 300 inches. Have them thread through the cones at, say, 5-10MpH, at first.
After they find that EASY, up the speed to 10-15MpH.
First they'll notice that much more steering is needed to trace the same path more quickly than previous.
Then they'll notice how much more steering needs to be done IN ADVANCE of the next swerve.
Equally useful is slow speed precision stuff. Drive thru the cones backwards. Drop pennies through the holes in the top of the cones after driving right up to them without running them over or shoving them.
I eventually used these and other 'cone course' variations with other people to great success.