I have some professional experience with this.
It happens sometimes. I've worked with people who developed fingerprint recognition software/hardware, and they tell me there's the occasional case where a fingerprint is "close enough". You're not really looking for a match that's accurate to a courtroom standard for a fingerprint match, or else you'd be trying to use it over and over again until it finally matches. In fact it only needs to sample a small portion of your fingerprint (although "enrollment" on an iPhone requires multiple presses to try to combine them into a larger re-creation of the fingerprint) , so the number of permutations are exponentially smaller than with something like a police fingerprint. The software also isn't looking to compare images, but to compare specific details.
It stores a template file of "minutiae" and not a complete fingerprint. It might be looking for one or two different kinds of minutiae, and will store them in the form of relative location and direction. The software then acquires a section of your fingerprint, converts it to minutiae, and then tries to match it to a comparable section of any of your stored templates. The idea is as a password replacement, where a match only has to be "good enough". When there was only a 4-digit passcode there were obviously 10,000 possible combinations and a chance that someone randomly guesses it. Your kid's fingerprint is that random guess matching. Here's an explanation:
http://biometrics.mainguet.org/types/fingerprint/fingerprint_algo.htm
Most algorithms are using minutiae, the specific points like ridges ending, bifurcation... Only the position and direction of these features are stored in the signature for further comparison.
If you're really paranoid about your daughter accessing your phone, you can change the passcode, delete all the stored fingerprint data, and use a different finger.