I dont know about guide books but we didn't need any. We are not long back from Bali and stayed in Kuta. My advise would be to talk to the people at the front desk for ideas. They all seem to have a booking service and drivers employed by the hotel. They also have transport that will take a family. For about 400,000 repuiers you get the car and your own driver all day.We did this three times over ten days away and invited the driver to have lunch with us and we payed. Can recommend Adi Dharma Hotel in Legian Street Kuta, Close to shopping and good food places. about 8 years ago
It really depends how far off the beaten track you want to go. Like the commenter above mentioned, you don't need a guidebook for Kuta. However, if you plan to self-drive and explore Bali's interior, then I'd highly recommend getting one... And a map!
On one of my previous trips, I hired a 4wd to visit temples and mountains off the 'tourist trail'. If this sounds up your alley, then I'd recommend the 'Rough Guide to Bali' and the 'Bali Pathfinder' map, available in Ubud. That said, the hotel front desk should be able to help you out with all the day-to-day stuff and trust me, there's loads to do in Bali.
If you planning to head out of Kuta, I can highly recommend taking the kids to the Elephant Safari Park (http://www.elephantsafariparklodge.com). At the least, you'll come away with some very funny photos with the residents, the Sumatran elephants! about 8 years ago