I have two kids who are seven years apart in age. The eldest is a boy, and the youngest is a girl. While these kids of mine have been traveling since infancy, it has certainly had its challenges. However, with those challenges come tremendous joy and a lot of lessons along the way! So, what has traveling with kids taught both me and them? Well, that's what I'm going to share with you today.

First things first — some background on my kids: My son was born in 2009, and we moved from New York City to Arizona, where his paternal grandparents lived when he was 6 months old. That move across the country was his first big trip. My daughter was born in Arizona in 2016, and she had her first big trip to Cape Cod and then to Canada during her first summer.

Since birth, each child spends half a summer on Cape Cod and the other half in British Columbia. Occasionally, I may even take them abroad. Travel has always been an important part of their father's and my life. We met while working on an Emmy-award-winning travel show and even named our children after places.

Traveling the world is one of our greatest teachers and the greatest gift we can give our kids. There are so many things to learn about our country and the rest of the world. While traveling with children in town takes a bit of extra planning and patience, it's worth it just to create those memories and see the awe and wonder on their faces. Having traveled throughout the U.S. and abroad with my kiddos, here are some of the lessons we have learned along the way:

1. Plan as much as possible ahead of time.

From flights and car rentals to train tickets and hotel bookings, it's imperative to have a plan in place so you don't get stuck or have to scramble upon arrival. I am a big fan of planning ahead of time in order to mitigate the stresses of travel as best as I can.

When I've traveled on my own or with friends in the past, I'd often wing it, maybe book a hotel room the day I arrived or figure out a plan for the day as it unfolded. Well, with kids in tow, winging it just doesn't work in most scenarios.

2. Pack everything you need... and be organized about it.

Have you ever forgotten your child's favorite snack or toy on a road trip or before a big plane ride? Well, I have, and it never went over well. After lessons learned, I am a big fan of lists. Creating a list of everything from seasonal clothing they will need at your destination down to their favorite toys and snacks is essential so I don't forget anything.

If we are trying to pack light and only take one checked suitcase along with personal carryons, I like to organize our clothing in packing cubes with a specific color assigned to each of us. That way, there is no confusion as to who's belongings are in what cubes upon arrival at our hotel or vacation rental. That's my pro tip for you to make things easier!

3. Travel often forces you out of your comfort zone.

This is probably my favorite part of traveling — getting out of my comfort zone. We often become complacent when we stay home for a long period, but to leave — whether for a day trip, a plane trip to another state, or a transcontinental flight abroad — can have a profound impact on our minds and souls. While all kids are different, I have found that my children have become better able to adapt to change, have become more tolerant of others, and are more resilient. They have also realized that the world is so much bigger than their hometown.

Travel invokes a sense of wonder and awe as children explore the world, listen to other languages and accents, try new foods, have new experiences, and learn the history and culture of a place. In my opinion, trying new things is essential for growth. It makes me so proud when I hear my kids excitedly talk about a travel experience they had or when they try food they never would have considered trying back home.

4. Patience is key to having a good experience.

We've experienced our fair share of flight delays, missed a train or a bus here or there, and sometimes forgot to factor in walking distance to an attraction or even when an attraction opened. While I love putting a daily plan together when we travel, I also allow for flexibility.

Sure, we may want to visit a specific museum at a specific time, but someone might get hungry (or hangry as with my kids), have to use the bathroom, or not want to do anything until after we stop inside a tourist shop to look for trinkets. Other times, the weather might not be optimal, so we may spend a bit more time at our accommodations than we intended. And that's okay.

5. People from all over the world are fundamentally the same.

I asked my teenage son one thing he has learned throughout his worldly travels. He said, "People all over the world are fundamentally the same. We may have different cultures and customs, but we are all basically the same." I have to agree! While cultures, countries, religions, and politics can certainly divide us, people from every nation want the basics of human existence like love, security, family, and happiness. And that's a beautiful thing.

I am a firm believer that traveling the world is one of our greatest teachers. If you're able to travel with your children, whether within the U.S., abroad, or both, I urge you to take them out of their comfort zone and learn through experience. To me, there is no greater gift than expanding a child's mind as they learn about history, art, culture, language, and other aspects that make this world such an amazing place.

Have you traveled with kids before? What are some of the lessons you have learned in your travels with them? What have the kids learned? Please share your thoughts!