The invasion happened some time before 11:20 a.m. at a house in the 5400 block of Regal Oak Circle off Pinto Way in Orange County.
According to Orange County sheriff's deputies, a man called authorities to say his house was being broken into.
Two men kicked in a door of the house, with one of them standing guard at the door and the other holding the family at gunpoint, deputies said.
The invaders fled in a red Ford F-150. They were described as black men with medium builds, short hair and facial hair and wore black clothing. One of them wore a red shirt.
Orange County sheriff's deputies said the homeowner does not know the assailants.
Watch Local 6 News for more on this story.
Fed-Up Families Turn To Barbed Wire, Shotguns To Police Neighborhood
SANFORD, Fla. -- Families in a crime-ridden Central Florida neighborhood are arming themselves with shotguns and talking about adding electric barbed wire to stop thieves targeting their homes
"Somebody is going to end up getting hurt," resident Andrea Fine said. "The homeowners are tense. We are all on edge. For the first time in my life I'm really scared to live in my home."
Homeowners living near and on Sanford Avenue in Sanford said crime is so bad that some of them have been robbed three times.
"We were told they would come back and they came back," homeowner Pat Doughty said
She is one of several residents who have armed themselves and plan to go to extremes to protect their property
"My next thing is to put electric and probably some barbed wire or something," Doughty said. "I'm shooting the next person who comes in. Don't come on my property anymore."
Doughty said she is moving because of the crime
"My kids call every day to make sure we are safe," Doughty said. "They want us to move and we are going to move because we can't put up with the crime."
Families said they want more police patrolling. But plans to add 10 more Sanford police officers could be in jeopardy because of budget cuts, Local 6's Erik von Ancken reported
The city's police chief said he is working on a solution.