The MTA has paratransit buses available since not all subway stations are wheelchair-accessible. The website also has a link to the Big Apple Greeter program which might be able to arrange a volunteer greeter for your family who is more expert on getting around with disabilities.
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Here is the Travelers With Disabilities page from the official NYC tourism website:
http://www.nycvisit.com/content/index.cfm?pagePkey=174
The MTA has paratransit buses available since not all subway stations are wheelchair-accessible. The website also has a link to the Big Apple Greeter program which might be able to arrange a volunteer greeter for your family who is more expert on getting around with disabilities.