Get children involved in more than one way. This includes getting them in the kitchen, but also taking them to farmer's markets and grocery stores and letting them pick out whole foods they would like to try. The reverse psychology thing only goes so far, if it's a flavor they aren't used to - it may get rejected regardless. But - by letting them choose the food, you are giving them control and encouraging them to experiment. I spend a lot of time with my son teaching him about primal cuts of meat and where they come from as well, so he is comfortable with meat cuts and the fact that he is eating animals when he eats. We were at a grocery butcher the other day and he was very proud of telling another shopper exactly what part of the cow that a round roast came from (he is 7) "IT'S THE BUTT MUSCLE!".
Another big help for us was the book "Eat Like a Dinosaur", a cookbook that's geared towards families with small children (and even has a chapter for small kids to read). Also, Practical Paleo has a handful of recipes that are kid friendly, although as with most kids, yours will be different.
My son's favorite meal is roast beef (my own recipe, but he wanted to try it after reading Eat Like a Dinosaur) and Roasted, Curry Cauliflower (Practical Paleo). He also loves his own share of whole foods, specifically Broccoli, as long as it has "LOTS OF BUTTER" on it.
I wouldn't say my kid is Paleo, but he does eat a lot better than he did before, we focus considerably more on whole foods. He still likes his french fries, his chicken nuggets (we make homemade GF nuggets for him), and desserts - but he also loves fruit, whole veggies, and unprocessed meats such as steak, chops, and fish fried in butter with dill and lemon... stuff I wouldn't touch when I was a kid.