We have a 6 yr old daughter and a 2 yr old son and they get along just fine with our Yorkie. We don't allow them to pick the dog up because they just aren't coordinated enough yet to do it without putting some discomfort on the dog. We also keep a close eye on them when they are playing because Yorkie's are fragile dogs and kids can get rough sometimes. But all in all it has been very easy for all to get along and we just love our Yorkie. He has become part of the family.
