There are two formal groups offering sailing instruction in the US; US Sailing
www.ussailing.org and the American Sailing Association (ASA)
www.asa.com . Both of these organizations have schools with certified instructors in your region. All of these schools will be happy to arrange private instruction for you. You will pay extra, but they will come to your home waters and teach you on your boat. Or they will arrange to have only your family aboard so you can all learn together.
All the certified schools meet minimum standards. US Sailing and ASA both have similar programs for learning to sail. US Sailing may be a bit more focused on racing development but they offer a cruising cirriculum similar to the ASA.
I do not really want to recommend a school. Look at the ones in your area and hire the one than seems to be the best fit for your needs. That being said I and several of my friends have used Blue Water Sailing School in Fort Lauderdale and have been very happy with their services.
Good luck with your search.