Voyage of the Unicorn

A professor, grieving for his dead wife, and his teenage daughters unwillingly journey to a parallel universe of fairy court, marauding trolls, and a prophecy that they will save this nether world. They board the Unicorn, a magic ship manned by elves. In the search for a dragon who will help them fulfill the prophecy, they encounter the Minotaur, Medusa, the Sphinx, an ogre, and a unicorn whose tears they need to reverse one of Medusa's misguided stares. The trolls also seek the dragon. (imdb)