Primehouse New York (381 Park Avenue South at 27th Street) is a pricey, upscale steakhouse but has a super reasonable lunch/brunch and kid’s menu. Its interior is spacious and modern and the service is impeccable. They provide crayons and placemats and can accommodate large groups. Plus, it’s right around the corner from Madison Square Park, so when your little one can't sit still any longer, you can bring him/her to the playground to blow off some steam.