When you get off the plane you enter a large hall where you will be faced with a long row of desks. Depending on when you get off the plane there will be varying queues at each desk. Try and head to the right, the lines always seem shorter and sometime they open up the US citizen desk to non-US citizens
When it's your turn you go upto your desk as a family (asuming to all have the same surname and one white customs form). The nice imigration officer will ask you a few simple question, check your green visa waizer forms, stamp your passports and take your finger prints and photo - only takes about 5 minutes
You then go through and wait for your luggage to come up. Once you have you luggage your head towards the back of the hall where your white card is checked. They will also select people at random to have their cases scanned.
Once through this check you put your cases on another conveyor while you walk on through to yet another security check. This time you pass through body scanners and your hand luggage will be scanned - and sometimes your shoes!
Once that is over you then pass into a small plaza where there are shops and a few places to eat. Most people just pass through this bit and onto the train that takes you to the main terminal building.
The train takes a few minutes to get to the main terminal. Once in the terminal head downstairs on the left to baggage claim B. Your cases should be coming out on the conveyors.
Once you have your cases you can the head off to get your car or transfer.
Sound complicated but it isn't - just follow everyone else LOL
I would say it takes around an hour to get from plane to final baggage claim - although it depends on when you get off the plane, the lines at imigration and security and if you get selected for extra bag scans etc.