DEN is actually laid out very well. There will be skycaps at baggage claim who will handle your checked and carryon luggage and get you out to your car service. They expect a tip and I would give them something extra to stay there with you at the pickup zone (which won't likely be curbside) until your car pulls up.

On departure, you can check your luggage curbside so that by the time you actually enter the airport all you have left is kids, stroller, carryons. There are elevators as an alternative to all escalators and the pax walkway / shuttle train are both easy to use.