If this picture (source) looks familiar then I believe it was MythQuest.
Matt Bellows scanned a strange and rare artifact, the Gorgos stone to add to his Cyber Museum. In doing so, the stone disappeared into the myth worlds and the evil God, Gorgos was released wanting revenge on the Gods that trapped him in the stone, by way of erasing and changing the myths. Matt entered the world of the myths to stop him. Matt's two teenage children, Alex and Cleo figured out what happened and are searching for their father. Each time they touch the Cyber Museum screen, they are taken directly into the myth and take on the persona of a person of that time, eg Orpheus. Together, they search for their father, learning more and more about the ancient myths, learning about themselves as well.