That's a shame. The only way you can help them now to stay would be for you to become a U.S. Citizen. The only way you could do that quickly would be to sign up for U.S. Military service. Assuming you will not do that, they will need to leave the U.S. as quickly as possible and apply for new H-4 visas to come back to the U.S. They are subject to the 3 year bar because it has been longer than 180 days, but they should be able to get the 212(d)(3) waiver if you can prove that it was not their fault and that it was a reasonable mistake under the circumstances and would not happen again. You may want to apply for the waiver ahead of time on form I-192. Here is a link:
Here is a link to information about the 212(d)(3):
And a link to a good article about it:
So file the I-192 quickly and if they get an approval, then have them leave to apply for a new H-4 visa for each of them.
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