"Voyage of the Unicorn" (2001 TV miniseries)
starring Beau Bridges
"Voyage of the Unicorn", based on the novel "Voyage of the Basset" by James C. Christensen, tells the story of Professor Alan Aisling and his two daughters, Cassie and Miranda, trying to overcome the death of their mother. They soon embark on a mystical journey on the majestic ship the Unicorn, assisted by two denizens of this fantastic world. They encounter creatures such as the Minotaur and Medusa while trying to save the King and Queen of the Faeries from the evil troll Skotos.
Copy and paste this at YouTube, and you can watch Part 1. The rest is available, too.
Voyage of the Unicorn (2001): Part 1