The best 5-seaters within a compact footprint are the Tata Sierra and the all-new Kia Seltos, mainly because of their spacious back seats which are good for three passengers.
The Sierra is a good mix of a city and highway car. But in your case, since you are mainly going to be commuting in Mumbai, the Seltos with the 1.5 petrol and CVT gearbox will be the best.
The Seltos is superbly equipped and a bit bigger than before, which makes it a very comfortable car.