Previous studies on the social acceptance of domestic robots have primarily focused on personal assistance. The present study expands the scope by examining multi-user interactions in natural home settings. We focus on family story time, a typical joint activity between parents and children. Given that story time can serve both utilitarian purposes (e.g., children’s learning) and hedonic purposes (e.g., family bonding), we asked: (1) How might the use of a robot influence parents’ attitudes toward adopting children’s robots in the home? and (2) How might the presence of a storytelling robot affect parent-child interactions? Twenty-one families in the Midwestern United States were provided with a zoomorphic robot designed for children to use over a seven-day period. Data were collected through pre-posttests, daily logs, and interviews. We found that parents’ intention to adopt children’s robots decreased after seven days of use. Most parents valued themselves more than the robot as storytellers for their children. Some parents felt conflicted about the use of children’s robots. Using a mixed-method approach and longitudinal design, we aim to provide an in-depth understanding of families’ use of children’s robots in the home and propose guidelines for designing socially acceptable robots for families.