As an all-around lens, the 18-55 that normally comes with the camera is a good choice.
The 18-140 is also a good all-around lens and is a better lens than the 18-55. This is lens I use the most.
For low-light (e.g., indoors without flash) shots of family, I like the 35mm f/1.8, although, it does have a lot of distortion for a prime lens. The 50mm f/1.8 is also a good contender and is good choice for portrait shots of people. If you have the 18-55 lens, you can see what focal length works for you.