Updated : 26/04/2017
Your family members who are not EU nationals must apply for a residence card (Aufenthaltskarte).
You need to show there is a family relationship with the EU citizen who is already legally resident in Germany. To do so, you will need to produce relevant documents, such as:
The residence card is usually valid for 5 years.
For more information, check with the foreigners' registry office where you live.