travel with small kids

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I'm really excited to come home after a year working abroad and we will be having our first family vacation during the holidays. We are also scheduled to visit my folks in the province and it will take several hours of driving. We plan to bring along the kids to meet their grand parents. But I was just thinking that they will be stressed because of the long travel consider they are both super hyper active, if you know what i mean. This will be our first time to travel together and I'm somewhat excited and worried about my dos gwapitos' behaviour along the way. How can we "contain" them inside the vehicle for long hours? I would love to hear from you, my fellow mylotters, share your own experiences travelling with your children.