How do I find the sites my family has visited after the history has been deleted?

Simply put you CAN'T once it's gone it's gone for good.
You can try messing about with some of these undelete programs, but in all honesty I wouldn't bother.

This question was already asked refer to this answers

recovery-deleted-history (https://www.askmehelpdesk.com/internet-web/recovery-deleted-history-87672.html)

deleted-history (https://www.askmehelpdesk.com/internet-web/deleted-history-65273.html)

restore-deleted-internet-history (https://www.askmehelpdesk.com/internet-web/restore-deleted-internet-history-61717.html)

view-deleted-history (https://www.askmehelpdesk.com/internet-web/view-deleted-history-38678.html)

checking-history-if-history-has-been-deleted (https://www.askmehelpdesk.com/windows/checking-history-if-history-has-been-deleted-23146.html)