Since you all seem to live in NJ, I would recommend any ship sailing from NY/NJ or Baltimore. Drive to port, no worry about flights, hotels, luggage…
Celebrity Eclipse sails from Cape Liberty/Bayonne and would be the most laid back ambiance. It’s also the smallest of the ships sailing from the NY area. My second choice might be Carnival Venezia, much more activity, more families with children. The other ships sailing from there are much larger and cater heavily to families with children. Bermuda is a nice, easy port.
The absolute smallest ships would be those sailing from Baltimore, also drivable. But still good value. If you have never cruised before, the smallest ship will seem huge. EM