Neil,
I've had a look at 1861 census, and only found 1 Daniel Kennedy, but he is 28 and unmarried, and about 3 Margaret Kennedy's but none fit with children of Daniel and George.
Here are the one's I have found.
If you get anymore info give it a second try.
ID ID1 Address Place Forename Surname Rel Cond Age Sort Occupation Birthplace County Piece Number Enum Dist Folio FolSort Check Notes
195009 1093 South Park Burstwick William Thompson Head Mar 50 50 Farmer 414 Empl 8 men & 1 boy Hutton YKS RG9/3598 03 035 35
195021 1105 South Park Burstwick Daniel Kennedy Serv Un 28 28 Groom Ireland ? IRL RG9/3598 03 035 35 ?
ID ID1 Address Place Forename Surname Rel Cond Age Sort Occupation Birthplace County Piece Number Enum Dist Folio FolSort Check Notes
336339 177829 Cliff Street Whitby George Browning Head M 25 25 Seaman Merchant Service Chapstow MON RG9/3648 09 24v 24.5
336340 177830 Cliff Street Whitby Dorothy Jane Browning Wife M 24 24 Whitby YKS RG9/3648 09 24v 24.5
336351 177841 Cliff Street Whitby Margaret Kennedy Serv Wid 29 29 House Servant Ireland IRL RG9/3648 09 25 25
ID ID1 Address Place Forename Surname Rel Cond Age Sort Occupation Birthplace County Piece Number Enum Dist Folio FolSort Check Notes
130934 64074 6 Fishwick Yard West Sculcoates Ann Kennedy Head Widw 52 52 Cotton Weaver Ireland IRL RG9/3584 07 031v 31.5
130935 64075 6 Fishwick Yard West Sculcoates William Kennedy Son U 22 22 Ship Labourer Wigan LAN RG9/3584 07 031v 31.5
130936 64076 6 Fishwick Yard West Sculcoates John Kennedy Son U 17 17 Ship Labourer Wigan LAN RG9/3584 07 32 32
130937 64077 6 Fishwick Yard West Sculcoates Joseph Gilroy Lodg U 32 32 Carpet Weaver Ireland IRL RG9/3584 07 32 32
130938 64078 6 Fishwick Yard West Sculcoates Catherine Kerney Lodg U 25 25 Domestic Servant Ireland IRL RG9/3584 07 32 32
130939 64079 6 Fishwick Yard West Sculcoates William Conley Lodg U 21 21 Cloth Manufacturer Manchester LAN RG9/3584 07 32 32
130940 64080 6 Fishwick Yard West Sculcoates John Cunningham Lodg U 20 20 Hawker Ireland IRL RG9/3584 07 32 32
130941 64081 6 Fishwick Yard West Sculcoates John Brown Lodg U 26 26 Steward Sailing Ship Ireland IRL RG9/3584 07 32 32
ID ID1 Address Place Forename Surname Rel Cond Age Sort Occupation Birthplace County Piece Number Enum Dist Folio FolSort Check Notes
259221 122633 9 Goodburn's Yard Scarborough James Daniel Head Widr 46 46 Scarborough YKS RG9/3617 08 101v 101.5
259222 122634 9 Goodburn's Yard Scarborough Fanny Trott Lodg Un 44 44 Scarborough YKS RG9/3617 08 101v 101.5
259223 122635 9 Goodburn's Yard Scarborough Emma Nicholson Lodg Un 18 18 Malton YKS RG9/3617 08 101v 101.5
259224 122636 9 Goodburn's Yard Scarborough James Daniel Son Un 30 30 Jet Maker Scarborough YKS RG9/3617 08 101v 101.5
259225 122637 9 Goodburn's Yard Scarborough Isabella Daniel Daur Un 17 17 Scarborough YKS RG9/3617 08 101v 101.5
259226 122638 9 Goodburn's Yard Scarborough Fanny Daniel Daur Un 14 14 Scarborough YKS RG9/3617 08 101v 101.5
259227 122639 9 Goodburn's Yard Scarborough Betsy Daniel Daur 10 10 Scarborough YKS RG9/3617 08 101v 101.5
259228 122640 9 Goodburn's Yard Scarborough David Kennedy Widr 32 32 Cork Cutter Glasgow RG9/3617 08 101v 101.5
259229 122641 9 Goodburn's Yard Scarborough Margaret Kennedy Daur 6 6 Belfast RG9/3617 08 101v 101.5
259230 122642 9 Goodburn's Yard Scarborough David Kennedy Son 3 3 Scarborough YKS RG9/3617 08 101v 101.5
Wobbly