I used to work for a local Camp Fire chapter. We paid a contractor to build a database. Cost about $20,000+. I think they had a basic template they developed for commercial distribution and tailored it for each customer. Every little modification was more cost because they distributed only the run-time version. We couldn't do edits.
In my current job, took 4 years to build and implement a database from scratch (for a laboratory, not camp program).
After considering all your time and related payroll expenses, could be same as paying someone to build it for you. But as you said, you wouldn't understand and be able to modify.
I don't mean to be negative but you need to be aware this won't be a short-term effort. It will take a lot of time, at least months.
There are many ways to structure a db to accomplish what you need. Your questions are too broad in scope to address here. All depends on your business processes and entity relationships.
I suggest you go through some tutorials and learn basics before attempting to build your actual db. Need to understand relational database principles, Access functionality, programming concepts, and macros and/or VBA coding. Here is one place to start
http://www.rogersaccesslibrary.com/
and the 'sticky' thread tutorials at
http://forums.aspfree.com/microsoft-access-help-18/
Regarding the sibling tracking - I think our db had a Family entity. Guardians and children were somehow associated through Family. I can't be specific about the tables because I never saw the data structure, only guessing because of the way data was entered and queried. It was a very complex db and slow as molasses. The registration data entry somehow kept track of registrations for each Family and determined appropriate fees.