Voyage of the Unicorn (2001)

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. Capture and slavery awaits failure, while faith precedes the miracle. The spirit of their mother is close to the girls, who must find courage and imagination, while dad must keep his wits.