Two women and two kids were robbed at gunpoint while out for a Sunday morning stroll by the Palace of Fine Arts in San Francisco, authorities said.

At 7:45 a.m. San Francisco police were notified that a man and woman, estimated to be between the ages of 20 and 25 years old, had brandished a pistol and robbed a 52-year-old woman and a 55-year-old woman and her two children, a 10-year-old boy and 15-year-old girl.

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The family was walking on the 3300 block of Lyon Street, not far from the Palace of Fine Arts, at the time of the robbery.

The suspects stole the women’s purses, keys, cell phone and wallets containing cash before fleeing on foot across Crissy Field, police said.

The investigation is ongoing.

Erin Stone is a San Francisco Chronicle staff writer. Email: erin.stone@sfchronicle.com Twitter: @erstone7