Hi Valerie. The tours offered at Walt Disney World are some of my favourite things to do when looking for something a little different. The
Walt Disney: Marceline to Magic Kingdom tour takes guests on a 3 hour walking tour where you will learn some interesting things about Walt and the history of the Magic Kingdom-with a focus on Fantasyland and Tomorrowland. While these tours may include a ride on an attraction or two, they do not state ahead of time which they will be or is it guaranteed you will be taken on a ride. That being said, from all of the reviews I have seen, the rides have not included the Haunted Mansion which is located in Liberty Square- I don't think your girls would need to worry about this. Keep in mind, that if by some odd chance the Haunted Mansion was selected as a ride for that tour, you could definitely opt out and wait at the exit to rejoin the tour group.
You may want to check the link I provided above, to view the official description of the tour on the Walt Disney World website. Details of age recommendations and how to book are on this page as well. Make sure to ask for any available discounts such as AAA, Passholder or DVC!
Please come back and ask me any more questions you may think of, and have a magical day!