If you are arriving mid day keep in mind Heathrow is one of the busiest airports on the planet. You could easily be there 2 hours by the time you deplane, go thru immigration, grab luggage and arrive at your accommodation. Great idea to stay out side to conquer jet lag. I say this assuming you are arriving from the states, seeing London first, then heading to Paris.
Day of arrival:
Get Oyster cards for each of you. Depending on where your accommodation is located I'd wander around Trafalgar Square for photo ops and maybe a nosh in the crypt cafe at St. Martin's off the Fields.
I'd save Covent Garden for later.
Instead take one of these routes toward Parliament Square.
1.) walk along the Thames path from Embankment to Westminster Bridge. You'll see the London eye across the river. There's a fascinating WW2 memorial along the walk.
2.) walk along the Mall to Horse Guards road and follow Horse Guards road, past the Horse Guards parade ground and the Churchill War Rooms to great George street and turn left heading to Parliament Square or turn right and follow Birdcage Walk through St James park to Buckingham Palace.
3.) or simply walk down Whitehall past 10 Downing Street and Horse guards to Parliament Square.
If possible and after photo ops of Parliament and Big Ben, take a tour of Westminster Abbey. If you are lucky and your timing is right you might wait in line to partake in Evensong. Check the Abbey website.
Following this exploration walk back toward your accommodation and wander around Covent Garden. Food and a good nights rest.
Day 2: early morning River cruise to the Tower or simply be first in line at The Tower of London by using your Oyster card and taking the Tube to Tower Hill and exiting. Head right for the Crown Jewels and then explore the remainder of the Tower grounds. Suspect you'll be there about 2hours. . Given the short amount of time for your stay it would behoove you to be there at the earliest you can. Are the 13 year olds into Harry Potter? If yes, after seeing the Tower, walk a few blocks to the glass covered Leadenhall Market and locate the entrance of the Leaky Cauldron in Diagon Alley. Admire the dichotomy of the glass covered market and the surrounding Modern architecture. Then walk to or tube to the Brick Lane Market. Really think the 13 year olds will enjoy this. Have lunch for any of the food stalls. From here I would consider taking the HammerSmith and city line from and Aldgate East to Moorgate and walking to the Museum Of London. Free museum and well done. From there dinner end of Day 2.
Day 3.
Greenwich in the morning. British Museum or Harrods mid day. London walk at night www.walks.com
Have fun!