Remember that official closing times of museums and attractions don't mean that you'll have much time if you arrive late. Check the official websites to see when the box office closes - after that time, you'll only have a short time to visit before the guards start shooing people out, since the building must be cleared of visitors by the official closing time. It would be best to go about 2 hours before the box office closes, if you want to visit a small-to-moderate sized museum, and if you want to see a lot of things in the Louvre, you'd need much more time than that.
Since you like to walk, it might be a good idea for you to Google DIY walking tours and plan your day around the different attractions you'd like to see, grouping them by neighborhood using a down-loadable map of Paris. Remember to check the opening days and times of the attractions you want to see, so you won't be disappointed.
You can walk from the Champs-Elysees to the Bastille in 2 hours, or from the Latin Quarter to the Marais in about 30 minutes, for example, and you'll see lots of different neighborhoods along the way.
It might not be possible for all 6 of you to board the same bus, due to crowds, and you will likely be standing in the aisle and won't get to see very much. The wait between buses varies from 7 to 18 minutes or longer, and travel is slow. The bus line you might need to make a return trip will not necessarily be in close proximity to where you got off.
For that reason, I recommend using the Metro and buying one of the following for each person in any Metro station, at the machines or at a manned booth with the word "VENTE" above:
"Mobilis" day pass for zones 1 - 2 for 7 EU - unlimited travel on Metro/RER or Bus from start of service until midnight.
"Carnets" - a set of 10 loose "T- tickets" for 14.10 EU - good for 1-way trip on Metro/RER or Bus. These can be shared among your family, and if you run out, you can buy single tickets if needed.
You can cross Paris via Metro in 30 minutes, but most trips will only take 10 to 15 minutes, including changing lines underground. Trains run every 2 - 7 minutes.
Always keep your validated tickets with you until you reach street level, then throw them away - inspectors do check, and you risk a fine.