We put our kids in at the fishing access off of Ben Howard road and float to Monroe . About a 3,mile float with a couple of riffle rapids over gravel. A longer stretch is Sultan to the access, same type of water.
On the Skagit, either the Bacon Creek to Marblemount or Marblemount to Rockport sections should fit the bill. Both sections have a few easy riffles. It is a big river so you can count on swirly water and strong currents, even though the rapids are class II- at best.
Lower Sky is good too. The section Jimmy suggested is a good one for a shorter float.
The SF Skykomish from Beckler confluence to Baring is a very scenic float. Mostly just swift drifting with a few class 2 rapids thrown in. The biggest waves are in the rapid you can see from Hwy 2 just above the Money Creek bridge. You can probably find a place to put in by the bridge to avoid this rapid.
The Snoqualmie from the powerhouse takeout down to Fall City is a nice easygoing float. On a hot day you'll be sharing the river with folks with Kmart rafts and coolers of beer.
The upper Wenatchee from Lake Wenatchee down to Tumwater campground is mostly easy drifting with a few class 2s thrown in. It's a long run, but you can use alternate access spots to make it shorter.
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