Short Tokyo trip for my family and my 4month old

Tldr; travelling with baby and disabled parents. 5 people. What would you do if you had 5 days to have an amazing experience, and how would you make the trip easier/better if money was not a factor

Here's a challenge, my wife and I are going on short notice trip with our 4month old and bringing along my retired 65yr old parents with my mum having accessibility issues.

My parents are retired Vietnamese immigrants who sacrificed during my child hood, and now that I have come upon the means. I want to show them some magical experiences.

We're looking for things we can do anywhere between things done all together and things done separately as couples while taking turns turns hanging out with the baby. We're big on food experiences, spontaneity and convenience but also want to experience the must do's of Tokyo. My wife is nervous about a baby sitter.

Edit: thanks for the tips. I forgot to mention. We've got an electric scooter, not sure if that makes a difference. So it's mainly stairs and uneven terrain that we're worried about.