I have not come across a program for purchase, though programs that combine movement and music (from well known: Kindermusik to less known: http://www.little-folks-music.com/) are out there.
Many dance studios develop their own programs based on their creative dance/preschool curriculum - generally any creative dance exercise can be adapted for a paired parent and child.
I can personally recommend the book, Creative Dance for All Ages (http://astore.amazon.com/danceadvan-20/detail/0883145324) - not only is it a great creative dance resource with tons of explorations/games and sample lessons but it is a great guide for planning and organizing creative dance curriculum. It also has some brief but useful advice for parent/child classes with sample plans.
There’s also a ton of great creative dance ideas online that you can use in your classes - again, they can easily be adapted. Try our Kid Concepts column: http://danceadvantage.net/author/kidconcepts/ and the Maria’s Movers blog: http://mariasmovers.com to name a few favorites.
Best of luck!
Try these articles at DA:
And this one at The Body Series: