Did with my 7 y.o. son. Take care on the steep "stair" descent. Rock scramble along the shore is challenging. Beautiful, fun, and doable, but do not underestimate the difficulty. Give yourself at least 3 1/2 or 4 hours of daylight if you are hiking - esp. with a child! Saw a few dogs but they did not look too happy about it. Great trail maps and descriptions available at http://www.njpalisades.org.
Calogero Z. on White Shore Trail
If you like rock scrambling this is the hike for you. Wear proper footwear because the rocks can get a bit jaggy and I've seen a few people including myself slip on the rocks. Overall it's a great hike and very challenging. I did the 520 foot stair ascent for last and it with a doubt is s butt buster. Will definitely do it again!
My feet hurt! we usually do just the bit front State Line Lookout Parking to the falls at the river and return, but today did the whole loop..forgot how long the rock scramble along the river is..good work out. lots of people out today, maybe one of the last really nice days before the cold weather kicks in..