Given your requirements, you should consider the Kia Carens. It is a practical, spacious and comfortable 7-seater MPV that comes reasonably equipped as well.
The Carens can be had with either a 115hp, 1.5-litre petrol or a 116hp, 1.5-litre diesel engine. Since your usage isn’t going to be high, go for the Kia Carens Premium (O) Petrol MT, which is priced at Rs 12.80 lakh (on-road, Delhi).