It really depends on the city/quarter where you live. I live in the center of Barcelona and had no problems with two small kids at all. Supermarkets, real farmer's markets, hospitals, pharmacies, schools, etc are all within 10min walking distance. I work from home, but I could walk to the office it I wanted to. I don't have to leave the city at all.
Eventually I gave in and bought a car, not because it was necessary but rather to leave the city on weekends and get closer to nature.
Eventually I gave in and bought a car, not because it was necessary but rather to leave the city on weekends and get closer to nature.