I like Mystic Quest as my first pick, but you said nothing turn based. But I think with a 2nd player controller, during battles they could help out. (Dont hold me to it tho

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Secret of Mana seems very fitting (3-playas).
Link to the past will probably captivate any kid.
How bout The Addams Family game, the one thats a Zelda clone seems decent?
While I'm at it I would throw Mario RPG out there, and Big Sky Troopers (ARPG) too.
If you can see the future while remembering the past, you may just have control of the present.