There are not many AWD or 4x4 vehicles that meet all your requirements perfectly, but there are some to consider. Your best option is the Maruti Suzuki Victoris, the ZXI Plus AWD AT variant, although you will have to stretch your budget slightly. It is a 5-star rated car from both Bharat NCAP and Global NCAP, so you're well covered on safety, and overall, it is a well equipped and comfortable family car. As a bonus, it comes with Maruti's renowned reliability and low running costs.
Or you could look at the Maruti Suzuki Jimny, which is a capable off-roader and falls easily in your budget, but it is not as comfortable, and its small size makes it less practical as a family car. 
