My heart is in my mouth as I watch my two children run off the slope into the void of sky beyond, just a parachute stopping them from plunging hundreds of feet below.

Of course, there’s an instructor strapped in with each of them, which allays my fears somewhat, and within a minute they are little specks on the horizon, circling high above the town of Millau, a hotspot for paragliding in the Aveyron region of the Midi-Pyrenees in southern France.

My son Will, 15, is already checking out his action pictures that he later uploads on to Facebook. He hasn’t totally appreciated the magnificent Millau Viaduct spanning the Tarn River in the distance, a showstopper on the landscape and the world’s tallest bridge, designed by English architect Norman Foster and opened in 2004.

Flying on top of the world may not be for everyone, but I am entering that realm of: “Could this be our last holiday with the kids?” Seeking adventure may be the only thing that bridges the generation gap.

So, holding that thought, we travel the long journey to the Aveyron, a region known for its amazing river activities, including canyoning and canoeing, as well as adventure circuits, bungee jumping and cycling. And, of course, Roquefort cheese.

We arrive at Val de Cantobre, a campsite in the Cevennes National Park in the middle of nowhere, at the foot of a gorge, surrounded by stunning hillside forests and dramatic limestone rock formations. Hikers love it here, as they trek through open meadows, woodland and terraced hillsides or follow the path of the river admiring the flora and fauna and the wide variety of birds, as well as scorpions and the odd snake.

Everywhere you look, rocks stick vertically out of the French forest hills. Even the beautiful medieval village of Cantobre, a couple of kilometres from our campsite, protrudes out of the craggy hillside, the stone buildings jutting over the edge precariously, looking like they could topple at any time.

This neck of the woods is ideal for road bikes, as the roads that cut into the gorges are fairly flat and even. You’ll need to venture further to make the most of mountain bikes, with trails that scale the top of the gorge.

If you want to escape tourism, this is the place to be. But the mobile home we hire, the new Aspect range from Eurocamp, has all mod cons, decking and stylish wicker furniture, even a gas barbecue and a permanent awning, so you can sit outside come rain or shine. Wifi, however, is better in a cafe in town.

It’s a 30-minute drive to Millau, the nearest big town – where the rivers Tarn and Dourbie converge and the watery action starts.

As abseiling and canyoning with ropes might be a step too far for me and my other half, we opt for the slightly less demanding – but hopefully no less thrilling – river trekking.

Donning wetsuits – even at the height of summer, the Dourbie doesn’t get above 18C, I’m informed – helmets and sturdy river shoes (I wear my trainers, as apparently Crocs or thongs just won’t do), we trek for 10 minutes down the hill with six French tourists to reach the river, where we are advised to get into the icy water of a still pool to familiarise ourselves with the water temperature.

Then we make our way, using hands and feet, along the rocks, sliding down miniature river rapids feet first and through craggy ravines as we follow the path of the river. It’s challenging, exciting and, when you’re in the water, you don’t notice the cold.

Before long, there’s a great sense of camaraderie among fellow trekkers as we help each other in and out of the water, cheering when anyone conquers a particular fear. One woman with vertigo takes a good five minutes of coaxing and gentle encouragement to pluck up the courage to jump about four metres off a rock into the water. River trekking certainly brings out the team spirit in you.

At the end of the journey, there’s a moment of trepidation when I jump seven metres from a rock into the river, to the cheers of my family and the others. I feel like I’ve conquered Everest.

In the wake of this water-bound excursion, my teenagers are up for anything river-based, so we take a 13-kilometre canoe trip down the Dourbie. The river provides the perfect mix of excitement and tranquillity – one minute we’re taking on a mini rapid, the next we’re paddling through a calmer stretch, admiring the stunning gorges beyond, stopping off at a little beach for a picnic or to take a quick dip in the crystal clear water.

For those who think this sounds too sedate, think again. My daughter Grace, 14, and I capsize on one of the rapids after slamming into a rock, which is pretty scary and jaw-droppingly cold without a wetsuit, and although we can stand up everywhere, it takes us a while to catch our breath and haul ourselves back into the canoe.

The beauty of staying in the Aveyron is that if you want warmer water, you can head for it. The Mediterranean is just 90 minutes away by car on an excellent road, so we bypass Montpelier to reach Meze, which sounds more like a Greek village but is actually a traditional old French seaside town, with a big fishing community.

Oysters, seafood platters, moules frites and other fishy specialities are widely available from a plethora of restaurants scattered around the pretty harbour.

As a family on perhaps one of our last holidays together, we’ll laugh about the river pursuits, the freezing water and the fact that William managed to miss the tallest bridge in the world on the flight of his life. That’s teenagers for you.

* Hannah Stephenson was a guest of Eurocamp