As long as they can reach the pegs comfortably it's perfectly legal. When my daughter was four I used to take her to kindy on my ZX4....until the bike was written off after a head on.(I was riding solo that day) I didnt take her on my next bike for fear of it happening again. I started taking my middle son for short rides when he was about seven and my tiny six year old has been for a few rides since he was five.
I have found that taking my kids pillion really wears me down because I am so scared of dopey car drivers not seeing us. A short ride to Tauranga and back with a child on board can wear me out more than a long solo ride to Whangamomona and back or a coro loop.
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