Moved this to the more appropriate Poker Rooms section -
But on PokerStars, you can set up home games by clicking the "...More" button from the main lobby window and click Home Games.
Then just click "Create a Poker Club" and go from there. You'll need to give your family members the details on how to join the club. Those details can be found under "Manage Club" and "Invite Players".
For a fun twist, you could all do a Zoom call while you play (just don't share your screens).
Keep in mind PokerStars Home Games are only playable on desktop/laptop, not mobile.
Have a look around and if you get stuck, post here and I'll help you.