We started canoe camping when the oldest grandchild was 11 months; this was followed in two years by a brother who was out at 6 months and in another year by a sister who was out at 5 months. My daughter and son-in-law love the Boundary Waters Wilderness.
We would either take the PUP or rent a cabin and canoe out for a night or two to give them a taste of the wilderness. We always stayed and camped where there was a beach to play on. A few toys from home or DVD movies were all they needed. As they got older our canoe trips got longer.
They would carry their toys in a back pack, then fishing pole or paddles. Now 20 years later, the oldest leads wilderness trips, the middle boy and girl take expeditions of a week or more at summer camp. When we go family canoe camping now; Grandpa carries the fishing poles.
Do not miss a minute, the memories out live all the hassle.