There are plenty of options to choose from, and without knowing your preference for fuel, gearbox, and rear space its a bit hard to pinpoint. However, the Maruti Suzuki Fronx would be a good all-rounder. With your budget, you would get the top trims and thus enjoy more features.
The Fronx is also fairly easy to drive with a compact sub-4-meter length, light enough controls and a slightly elevated seating position that will give you a better view outside.
Moreover, its taller stance offers you a good ground clearance handy for your occasional weekend trips outside the city. As for space rear room is good, as is the boot space too, so for your family of 4, this should do just fine.