Hi Shanda,
where will you be staying in Pamplona? It may not be the "interesting cultural experience" that you think. As you know the Chupinazo is at noon on the 6th, and the old town will be rocking until the next day.
There are some more family areas and activities. For example on the 6th the program lists:
17:00 Giants and Bigheads. Parade starts at Central Bus Station.
17:30 JuegoRejuego Taconera Gaedens Gardens (Larraina area). Children’s play area made with recycled elements by La PAI company. Until 8:30 p.m
18.00 ¡Menudas fiestas! Plaza de la Libertad. Activities for children. Until 9 p.m.
on the other hand for the same day
23:30 Live Conciert. Plaza de los Fueros. Lola Índigo
23.30 Sound Fermín. Plaza del Castillo. Dj Espectáculo Coloma. Until 2 a.m.
23:30 Popular Dance. Plaza de la Cruz. Orquesta Magia Negra. Until 10 p.m.
23.30 Popular Dance. Antoniutti. Puro Relajo y DJ. Until 3 a.m.
00.00 Music on the streets. Parade starts at Plaza Consistorial
Plus lots of drunk people everywhere. You might want to think twice about taking the kids.
here is the full program in English.