Kyoto-Osaka-Nara

Hi,

My family and I are planning our visit to Japan in August and trying to see if a JRpass makes sense for us.
We are 4 adults, arriving at Narita Airport, we are staying in Shinjuku area for 4 days, then head to Hakone for overnight.
After that we will go to Kyoto, Nara and Osaka.
Then back to Tokyo.
Can we use the JRPass in the Kansai area?
Please help!