We also visited the children's exhibit, where they had hands on activities for the kids to interact with, and comfortable chairs for the adults to sit and watch. You'll want to be sure to walk around the outside of the museum, because the gardens around it are beautiful. There are stairs with fountains to climb and explore. There are also tables outside perfect for picnicking.
There is a parking garage for the museum for $6 per day. We found free street parking right around the corner. It's a great indoor stop to cool off on a hot day or to get indoors when it's raining. I love taking small trips to art museums with kids because it teaches them museum etiquette in small doses that they can handle. Check it out the next time you're in Richmond, and checkout our index for other things to do in the city.