my local pride has multiple stages - the main stage is very family friendly (mostly singers, bands etc), and the cabaret stage usually is also family friendly, and has drag queens singing and dancing, mostly to pop hits. It varies year to year, but generally there's a stage sponsored by a gay bar which is a bit less family friendly - more adult jokes etc (usually it's in a gazebo). There is a programme of events published of who's on what stage, so you can decide which acts to view. There's also usually lots of stalls (community groups, organisations, public services etc) giving free stuff away, which is near the family, teen and kids areas (which have space to play, some groups running activities), and you aren't allowed alcohol across the fence boundary. This area and the community stalls are usually closed by 7pm-ish, with the last acts being on the main stage at 10pm, and the other stages closing a bit before then.
There are some people in clothing that maybe some people wouldn't particular want their children seeing, but equally, there are also people in the local park or beach who're equally scandally-clad.
Overall, the people who're going for the family atmosphere tend to go earlier, (This year our parade was delayed, so those people were actually there over an hour before the parade), and the people who're going to drink lots, and behave in a manner I'd imagine you'd describe as inappropriate, tend to go later, especially in big cities where the bars and clubs run a whole weekend of events.
You don't say your kids ages, but most of the families with toddler aged kids tend to leave by the time the stalls and kids area close, as it does get busier and much louder later as the more popular acts take on the main stage, and the stalls close of everyone heads there.
It's obviously up to you, but if you're unsure, why not take your tickets, and go this year? and if you don't like it or feel it's inappropriate you're able to leave, no harm and no foul! Go early, take your kids, and just see how it goes, if you don't enjoy it, next year you can just say 'oh we went last year and it wasn't really for us, thanks though', if you do, you've found a lovely event you can attend as a family.