I'll try to list one episode, from each season. To keep all the seasons fair. Also, IK this is an old thread, but it's still a fun topic to discuss what episodes are exactly "family friendly".
Season OneEpisode 17 "That 70's Episode": As much as I don't like this episode, personally, it's one of the least violent episodes. It might be "scary" at the start, but it all calms down, after the sisters time travel back in time.
Season TwoEpisode 22 "Be Careful What You Witch For": OK, IK there's like a minor "sexualized" moment between Teen Prue and the Dragon Warlock (not to mention the "you don't need Dick" quote, along with the "scary" Dragon Warlock), however it's very brief. Most of the episode is quite comical because of the genie. Not to mention, it's not that violent of an episode.
I almost chose
Episode 11 "Reckless Abandon" because of the baby but because of the scary ghost and how "violent" the ghost was...hard to say, but I'll have it as an "Honorable Mention". Especially since in "Be Careful What You Witch For", Teen Prue dies, anyway, but it's not as torturous as "Reckless Abandon", but I digress. Also, IMHO.
Season ThreeEpisode 3 "Once Upon a Time": While this has "scary" trolls (and, a "scary" demon via Cole), it's still an episode for a "younger" mentality. I mean, I've watched some pretty "dark and edgy" cartoons, when I was younger, and this episode matches that same atmosphere. I feel like this episode would fair well to a family dynamic atmosphere. Just skip Piper's speech. Far as I can remember, it's not that violent of an episode. Just "scary images".
Season Four(this season is probably not as "family-friendly", as other seasons, it's pretty difficult to find one that's not "too scary" nor "violent" especially in a show not afraid to get a little dicey with its "violence")
Episode 14 "The Three Faces of Phoebe": While "old Phoebe" tells present Phoebe to stop "dressing like a 'tramp'", it's a brief moment. There's a "little Phoebe", in this episode, as well, and this episode shows Cole protecting her (a child). Sure, "little Phoebe" calls him "cute" or something, there's not much happening, in this episode other than the "violence". Like I said, this season was the hardest to pick a "Family-Friendly" episode from.
MAYBE "Lost and Bound", MAYBE.
Season Five(I feel like there's a lot of "family-friendly" episodes in S5-S6, but we can't escape the "violence" unfortunately)
Episode 3 "Happily Ever After": Ignoring Phoebe's horrendous over-sexualized "Cinderella Dress", for the most part, this is like one of the show's least "violent" episodes, there is. Not to mention, it's about Fairy Tales! Also, it's funny! Piper does cuss, though, so IDK how you feel about language, but you can always skip that part. To be fair, original fairy tales were a lot more violent than what this episode showed us LOL
Season Six(while I still believe S6 can be "family-friendly", we have to watch out for their over-sexualization which is what I'm mainly focusing on. There's no escape from the "violence", unfortunately)
Episode 8 "Sword and the City": I don't think this episode is all that violent, personally. The Fairy Tale creatures make a comeback. Piper does share a kiss (but like, even Disney movies shows kissing, so it's not like this episode is over-sexualizing a kiss). While people are dying in this episode, it's an homage to the "Sword in the Stone" story.
Season SevenEpisode 16 "The Seven Year Witch": I think Leo gets his memories of him in the war, briefly, other than that...this episode isn't all that violent nor sexualized. Piper vanquishes some "scary monsters", in the beginning, but that's about it. Piper may cuss in this episode, but I can't recall. But, yeah, I think this episode (especially with Drake) is pretty "light-hearted". Might be a little "boring" 'cause it's all talking but...for the most part...it kind of fits with the description, you're looking for.
Season Eight(this season is a little fuzzy for me, so I may list an episode that might hint towards sex or something, and I apologize for that)
Episode 22 "Forever Charmed": I do know Piper time travels to her mom "doing it" (this can be skipped), if you want. Chris & Wyatt do cuss, but Grams DOES correct them about their language. In general this episode isn't too "violent". Just rehashes what happened prior. OFC, there's the final vanquish, and Billie killing her own sister, but we see Billie be extremely distraught over it. All in all, it DOES showcase a family-dynamic atmosphere especially towards the end. So, it's up to you.
I still say S5E3 "Happily Ever After" is the best pick merely because it's an homage to fairy tales. All my opinion, OFC.
EDIT: Amazon Prime rates "Happily Ever After" as PG (which is fair), so that's up to you.