I had kinship of my great niece and nephew, now they are in foster care. I think they belong with a family member who knows them and they know. I just don't know how to go about getting them back in our life. Please help! I don't know how to get this started. Their mom don't seem to be even trying to straighten up. I would love to get full custody but I can wait till the court says so. I just won't them here with family. HELP!

You may file for kinship foster care.
You may get some facts here:
TX Kinship Care Policies Guardianship Policies Guardianship payments: Compared with Foster Care

Check out the link GV gave you. The first thing would be to talk to the case worker. Let them know you are willing to foster the children. They will check you out and, if your application has merit, probably put the kids in your care. From there you can see about custody and, maybe, adoption.