A document can have many children, so there’s no generic way to do it. If you know the ID of the child, you can do it with a simple link tag:
Evolution:
<a href="[~12~]">Child</a>
Revolution:
<a href="[[~12]]">Child</a>
Change 12 to the actual ID of the child resource.
If your sure the documents will only have one child, you can do it with a snippet. In revolution it would be something like this:
<a href=[[!ChildLink]]>Child</a>
<?php
/* ChildLink snippet */
$child = $modx->getObject('modResource', array('published'=>'1', 'deleted'=>'0','parent'=>$modx->resource->get('id') ));
return $child->get('id');