Macs Adventure: https://www.macsadventure.com/us/ . They specialize in hiking trips in Europe, helping you do it yourself. A friend of mine loves them. He and his wife have taken several trips that they organized, and now have taken one with their 18 month old.
G Adventures: https://www.gadventures.com/ . They do trips all over the world. I love seeing what they are offering - good inspiration. I'd recommend signing up for their e mailing list.