Well you can try what Anthony Bourdain's parents did, and leave the kiddies hanging out in the car while you and your significant other have yourselves a proper adult meal (although if any of us attempted that in this day and age we all know a call to the police by some well meaning stranger would land you in hot water, so let's not even contemplate the tempting calling of times past). Seriously people the best way to get kids to try new foods is not to take them to a restaurant and force something that is alien to them in their mouths. Even certain adults have a hard time with this one, why should we expect it from a budding mind. The goal is to get the little ones to love good food, not to use food as a means for emotional scarring.
Much easier for you (not to mention less expensive, and less aggravating) is to get the wee ones to help you prepare food. I have found that my little girl is more willing to eat new things when she has contributed to the preparation of the food, because in some way she feels like she knows what she is eating and because she is proud of what she has helped to make. We prepared the sauce free version of eggplant parmesan (shown in the picture) together. She loved every minute of helping, and ate every last bite of what was on the plate. Win win for all.