Well, guy who likes boats was ALMOST tricked with this one. I almost finished proving why this can't be solved when, in last second, I thought of possible step 2. Sometimes you just overlook things I guess

However, later it was piece of cake
Mother - M, Father - F, Daughters - D,D, Sons - S,S, Maid - FM, Dog - FD.
1) Maid and dog - dog stays
(situation: M,F,D,D,S,S,FM - FD)
2) Maid and son - son stays, Maid and dog coming back
(situation: M,F,D,D,S,FM,FD - S)
3) Father and son - son stays, father is coming back
(situation: M,F,D,D,FM,FD - S,S)
4) Mother and father - father stays, mother is coming back
(situation: M,D,D,FM,FD - F,S,S)
5) Maid and dog - father is coming back
(situation: M,F,D,D - S,S,FM,FD)
6) Mother and father - mother is coming back
(situation: M,D,D - F,S,S,FM,FD)
7) Mother and daughter go there - maid and dog coming back
(situation: FM,FD,D - M,F,S,S,D)
8) Maid and daughter - maid coming back
9) Maid and dog