What about https://en.wikipedia.org/wiki/Honey_Heist ? It's not DnD, but the rules are ridiculously simple: you're a bear and if you want to do bear stuff, you roll in your "bear" skill. If not, you roll for "not bear" (i.e. criminal). It's so dumb it hurts, but it works for all ages and I had a blast trying this with some friends.
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If you want something simple, you could try Peril in Pinebrook. It was designed to be used in schools to teach kids to play. It uses a much simplified set of rules and pre-generated characters. I'm going to be using it with my family in a few weeks
Winnie the Pooh characters could be translated to DND without much effort: Pooh as a totem Barbarian, Tigger as a Swashbuckling Rogue, Oath of Redemption Paladin Eeoyre, Owl as Nature Domain Cleric, etc. Then you can build a small adventure in the hundred acre woods to collect supplies for a birthday party or something similar
You're looking for a oneshot. (a dnd campaing meant to be short and completed in a single session.) The joy of oneshots is that your players are usually not particularly attached to the characters, so a TPK won't necessarily piss everyone off, and you can ramp the difficulty some.
plenty of sources for free (and not free,) oneshots in a variety of the usual places.
DMsGuild has plenty that are free, or 'pay what you want' as a tip, if you feel so inclined.
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