I think a Havanese might be a good choice - friendly and durable. Beagles and pugs are also pretty good family dogs. I wouldn't recommend a dachshund.Even though individuals in the breed may be friendly, a University of Pennsylvania study found the breed to be the most aggressive.
There are two books I recommend and keep on my own bookshelf for reference:
1. Tortora, Daniel F. The Right Dog for You: Choosing a Breed That Matches Your Personality, Family and Lifestyle. New York: Simon and Schuster, 1980.
2. Walkowicz, Chris. The Perfect Match: a Buyer's Guide to Dogs. New York: Wiley Publishing, Inc., 1996.