According to the Centers for Disease Control, you and your family need the routine vaccinations everyone should have (measles/mumps/rubella (MMR) vaccine, diphtheria/pertussis/tetanus (DPT) vaccine, poliovirus vaccine, etc.) plus for Hepatitis A and B.

Note that one should be vaccinated against Hepatitis A and B even if they never leave home.

Regarding Malaria:

Risk is limited to areas infrequently visited by travelers including small foci along the Guatemala and Belize borders in the states of Chiapas, Quintana Roo, and Tabasco; rural areas in the states of Nayarit, Oaxaca, Sinaloa; and in an area between 24°N and 28°N latitude, and 106°W and 110°W longitude, which lies in parts of Sonora, Chihuahua, and Durango. No malaria risk exists along the United States-Mexico border. No malaria risk exists in the major resorts along the Pacific and Gulf coasts.

Risk is very limited; therefore, prophylaxis is not recommended for most travelers to Mexico. Travelers should use personal protection measures such as insect repellents for malaria prevention. Chemoprophylaxis is recommended for the rare traveler going to the risk areas.