Check out R' Yakov Horowitz's post at BeyondBT, Take A Child to Shul this Simchas Torah.
When I was in Israel, I spent the Simchas Torah of both years with a specific family. Both years, I would daven at the local "Chutznik" minyan for those who had 2 separate days for Shemini Atzeres/Simchas Torah, then go back to the family I was staying at and take their youngest son on my shoulders and parade him around the shul during hakafos. So did a few other neighbors and family friends - along with taking the (then) 12-year old and 8-year old in the circle and dancing with them. I'm not sure who appreciated it more: The 3-year old experiencing his first real Simchas Torah, the 8-year old, or the soon-to-be bar mitzvah boy.
Actually, it was none of them. It was their mother who appreciated it the most. So really, take a child to shul this Simchas Torah. Not out of pity, or charity - but because it makes people happy and it's the right thing to do.
Chag Sameach, everybody!