Mine is a Joey Scout, so the section before Cubs (6-7yo).
Loves it. We've just come back happy and exhausted from a Joey Jaunt in the ACT, where we did heaps of activities.
If you're not sure, contact your local groups and visit them, you don't have to join up on the first night, there is usually a 'trial' period of a few weeks. If one group isn't a good fit, you can always look at another. For example, your child might prefer Scouting, but could also enjoy being a Sea Scout or an Air Scout - so there are different things to think about and consider.