Can you please let me know the procedures needed for sponsorship? Thank you.
You would file an adjustment package for each of them. You can check out the instructions for the I-130 and I-485 for all the details at www.uscis.gov.
If they didn't enter legally and don't have protection under 245i, they will not be eligible to adjust in the us. You need to meet with a lawyer to review what can and cannot be done for them.