Print yourself or purchase the Atsion NJ USGS Quadrangle Map and take the road running east from the Atsion Ranger Station.
It's Quaker Bridge Road and you can take that east to Quaker Bridge, then all the way to Washington Road. Make a right on Washington and go out to Batsto Village.
If you bang a right just before Quaker Bridge, you can follow the Batsto River all the way to Batsto.
These are both great beginners roads and you could do most, if not all of it, in 2WD.
There are a few sugary stretches along the road that follows the west side of the river.
Here is the link to the Atsion Quad.
http://store.usgs.gov/b2c_usgs/cata....do?lastVisited=areaDetails&query=*atsion+nj*
You don't have to buy it but it is nice to have a print version in the truck.
Use the map locator on the USGS site and you can download the quad and view and print what you want.
Good luck and enjoy the woods with your wife and family.
Scott