Get away with a daughter on board for adventure (8)
I believe the answer is:
escapade
'adventure' is the definition.
('escapade' can be a synonym of 'adventure')
'get away with a daughter on board' is the wordplay.
'get away' becomes 'escape' ('escape' can be a synonym of 'get away'**).
'with' is an insertion indicator.
'daughter' becomes 'd'.
'on board' indicates putting letters inside.
'escape' going around 'a' is 'escapae'.
'escapae' enclosing 'd' is 'ESCAPADE'.
'for' is the link.
(Other definitions for escapade that I've seen before include "Adventurous T [TREAT]" , "Risky venture" , "Jolly jape" , "Daring adventure" , "A reckless or mischievous adventure" .)