The best dog is a rescue dog. You can spend time interacting with him/her. The staff will have gotten to know the dogs. They can let you know about the dog's energy level; it should be less than or equal to your family's. They can also recommend a respected trainer in your area.
Most important is for the entire family to participate in the obedience training. Having consistency will help your dog find emotional balance and stability. It's also a fun experience to share. :)
That is not an easy question to answer .. There is no one answer .. Just like there is no one singular breed that would fit the bill.
There are many .. Having said that .. One can not judge by breed alone. There are many characteristics that are individualistic in terms of personality and temperment.
Personally, I would ONLY consider a rescue animal .. By carefully, determining temperment type. I am not a big fan of supporting breeders.
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