okay, here goes.
you'll wait in the customs hall with everyone else from your flight. Those with/without visas all stay in the same Q's.
If another flight comes in, they'll just line up alongside you.
After a while (probably a good 30mins), you'll get near the front of the Q.
Stay behind the line until called.
When it's your turn, your family can go up together.
Hand over your documents, smile, answer the questions (don't make jokes unless they do....after a few hours of doing their job, you'd get miserable too). As your passports are opened and stamped, the official will take a quick photo, and scan a finger.
3 questions.....why are you in US, where are you staying, how long.......'enjoy your trip'
job done and you're away.
Have Fun!!