Whether you’re traveling as a family or just looking for something special to do at home, eating in restaurants with children can be a bit of a challenge. Between picky eaters and long waits, you might wonder why you didn’t just stay at home. But I’ve got some tips for making eating in restaurants with children a little easier, no matter what their ages.

If you have picky eaters (and, frankly, who doesn’t?) do your homework in advance of going out. Whether you are at home or on vacation, find out what you can about a restaurant before you go. Many restaurants, especially the chains, now have websites with menus online, which can help you find a restaurant that will satisfy everyone and fit within your budget.

Local newspapers can also be a great source for information about restaurants in cities you are planning to travel to. Many big cities, and even some smaller ones, have newspapers with entertainment sections on their websites that include restaurant reviews. You can search for restaurants by cuisine and location, so if you know where you are going to be around lunchtime, you can pick a place to eat in advance.

Anticipate a long wait. You never know how long you will have to wait for a table or for your food, so plan accordingly. My 2-year-old, Rachel, and 6-year-old, Jacob can both get pretty restless (as their older brother and sister, Matthew and Cassidy, did when they were younger), so I try to pack a bag of activities they can do quietly (and without mess) while we wait. I include coloring books, small games and short picture books or comic books. I also throw in baby wipes so the kids can “wash” their hands at the table after playing.

If you can afford it, get an appetizer such as nachos or breadsticks so that starving kids won’t whine the whole time you are waiting for your entrees. Or pack a little snack such as cereal or dried fruit for the little ones.

Consider splitting plates. I have four kids, so when the six of us go out it can get quite expensive. Even the kids’ meals at some restaurants are too much food for the young kids, so we often get a grown-up sized meal and I’ll split it with Jacob and Rachel, or Jake, Rachel and Cassidy will all share a meal. This saves money as well as time, since the kitchen has fewer meals to prepare for us. Some restaurants charge for an extra plate, but that’s still better than wasting all that food no one would have eaten.

Of course, the easiest way to plan eating in restaurants with children is to go to restaurants you know will be family friendly. Pizzerias, Mexican restaurants and chain restaurants of all types are usually the most welcoming of kids. (And even picky kids, like Rachel and Jacob, will easily find something to eat there.)

Remember that kids are messy eaters, and that toddlers will try to put everything into their mouths. Move things that will spill or get gummed out of reach, and remember to tip your server generously. Eating in restaurants with children can be a good learning experience as you explore different cuisines and teach them about different kinds of food. But if you’re being adventurous, be sure to pack snacks (or pick a restaurant near a tried-and-true fast food restaurant) in case your child refuses to eat what the restaurant offers.