Yes!!
Kids are welcome to take yoga with you, just make sure you have enough space so that the teacher can see everyone. Of course you can schedule separate sessions for your spouse and kids.
But, if you are looking for that much needed alone time, the best time to do yoga might be when the kids are asleep or at daycare or school.
If the kids are at home, just make sure they are engaged with care or activities and know that you are doing your yoga session. This way they will be quiet and interrupt only when necessary.
Don't worry if kids do interrupt! Our teachers have families and know that kids will some time interrupt and they know how to handle such interruptions.