The RAV4 is very roomy on the inside, with comfortable and roomy front and rear seats. It gets pretty good gas mileage too. It's one of the more rugged options too. Toyota's suite of active safety features are standard too. The bottom of the line LE model starts at just under $25k.
The CR-V might be a good choice, but a little more luxurious and less durable for $24k. I'd go for the RAV4 because of the standard safety features.