Waitokia told the children to put their seatbelts on but none did and, as a police officer reached in to take his car keys, he took off from the scene.
Knowing there were unrestrained children in the car, police did not give chase.
The 49-year-old was again stopped while driving illegally, with a female passenger in the car, on December 17, 2020.
On Monday Waitokia appeared before Judge Dugald Matheson facing two charges of driving while disqualified and one each of failing to stay for police and dangerous driving.
Defence lawyer Debbie Goodlet sought a community-based sentence, telling the court Waitokia had worked incredibly hard during the past few years but unfortunately hadn't managed to get a driver's licence.
Judge Matheson noted early guilty pleas had been entered to the charges but the case had been adjourned again and again.
He said one of Waitokia's bail conditions was not to drive and he had effectively served a greater period of disqualification than could have been imposed.
Waitokia was sentenced to 12 months' supervision, with conditions he obtain a driver's licence, and a total of 150 hours' community work on the charges.
No further disqualification was imposed.