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Unfortunately the answer is no, you can't prevent daughter from being called as a witness to testify in a criminal case. If she has been subpoenaed in the case, she would have to appear in court and you would have a legal duty to ensure that she appeared or you could be held in contempt of court as her legal guardian.
However, with that said, if daughter responded with answers like she didn't remember, or didn't know, or couldn't recall, or didn't see anything, that might quickly frustrate the person questioning her so that he gave up.
Well, not really because she isn't being accused of a crime. The 5th is to ensure that the person testifying doesn't make statements that incriminate themselves in the commission of any violation of the law. So if she doesn't want to cooperate, the responses I mentioned earlier will fairly quickly discourage any further questions.