Hi Ashley,
Thank you so much for visiting the Disney Parks Moms Panel with your question. We on the panel love helping guests to plan magical vacations!
I have great news for you. Walt Disney World offers
Rider Switch Service, which I believe will do exactly what you are looking for! When taking advantage of Rider Switch Service, you first let a cast member at the attraction know that you would like to use Rider Switch Service, and you will be given a Rider Switch pass. Then, one adult can wait with non-riders outside of the attraction while the other adult goes through the queue and rides with the children who want to and can ride. After exiting, the adult who rode finds the adult who did not ride and the adult who rode takes over watching the children. The adult who did not initially ride then heads to the attraction, presents the pass, and may ride the attraction without going through the main queue.
Rider Switch Service is a great way to be sure that everyone gets to experience the attractions that they want to. For a list of attractions on which Rider Switch Service is available, check out the link that I provided earlier.
I hope that this information is helpful for you, Ashley. Have a wonderful time planning your magical vacation, and please do let us know if you have any further questions!