We are big Royal Caribbean cruisers because it's a nice quality ship family and very family friendly.
Norwegian looks great, but I don't know about it being family friendly - I can only vouch for Royal Caribbean - the food is very good and the Adventure Ocean kids clubs are great - lots of age appropriate activities.
Carnival "seems" like its a party cruise line - I've heard there's lots of college kids and large (loud) family reunions (because it's inexpensive). My sister-in-law will only cruise on Carnival...
Whatever you do, keep an open mind and have fun!!
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