Hi mjsantos you are correct that you will have to sponsor your family again because they didn't land and their visas expired. As a permanent resident you'll have to be residing in Canada in order to submit the application. So once you move yourself here you can sponsor them. I imagine they will have to redo their Medicals and police certificates for your wife and children over 18 will need to obtained again. You'll send the application to Mississauga and from there it will transferred to either Sao Paolo, Brazil. The processing time is around 10 months max but many would get through in less time.
Is your family currently living on the United States or Judy visiting?