I've been a Mensa member since 1989. It is definitely geared more toward adult interaction, though there are some groups that have strong children's programs. Once a single family member joins, the rest of the family is welcome at most events. No one will ever ask for your membership card at the door!
It is worth it? That depends. I used to be very active in Mensa, but since DH and I married, we have done less and less. At this point, we read the newsletter and National Bulletin, but that's about it. We have a strong social network of bright/gifted people in our community and don't "need" Mensa so much these days.