Quantum Leap is a good one from the late 80s/90s

He travels through time and experiences the lives of many different people. Every episode has a pretty good life lesson about the worth of ones life and the importance of treating others well. It also shows the ugly side of society.

A fair warning though, the sidekick in the show is always making remarks about women's looks (product of the time I suppose) but the protagonist most of the time disapproves of what he says. That being said, I expect that those comments would go over the head of a 10 year old.