This film has it all. "Return of the Jedi" has the most action in all of the original trilogy. It's PG rating comes from a good deal of sc-fi violence and action, but all of it is bloodless, and not gory. The story continues, and Luke Skywalker is now a Jedi Knight, and after rescuing Han and Leia from the famous "Jabba the Hutt", he learns more about his father from Yoda: he is indeed Darth Vader, and he must confront him one last time.
There is no language to speak of other then a few "Shut ups", and sex is limited to Princess Leia in a bikini for about 15 minutes, although it's not that revealing, and you'd see worse at the beach. Action is frequent: Luke cutting people down with his Lighstaber (all bloodless and no limbs lost), people getting eaten by a giant worm, an alien is strangled with a chain, (he's a bad guy) and lots of blaster-fire, ship-battles, and a lightsaber duel. The emperor is clearly evil, and he try's to make Luke turn to the dark-side, using his anger and fear to make him powerful. Luke knows this is not right, and the emperor electrocutes him with force-lightening while he writhes in pain and screams. All ends well, but that scene may be a little to intense for the youngest "Skywalker Fanatic". Also, if your child has a fear of dinosaurs, Luke is attacked by a giant "Rancor" which resembles a t-Rex in apearance, and it eats a few aliens. Enjoy this amazing film of the 20th century.