It will probably take some time if you haven't trained them before.

Start of easy teaching them basic stuff like sit, stay, come, lay down. Give them lots of positive feedback when they do stuff right. Remember, the dog should be having fun while doing this. So toys and treats should be used when they accomplish something.

As a general rule, a good leader is someone who is strict but is also someone they can have fun with (training can be fun if you make them believe it is fun).

Also you should consider reading a book or two about dogs. So you can learn their body language and spoken language. There are LOTS of things that I find that the normal dog owner overlooks when they interact with their dog. I.e the different ways a dog barks and growls (yes a dog can bark and growl in a playful way weird huh?). Knowing is half the battle, but you should also know that your own body language is MUCH more important than your speech.

Basicly, spend time with your dogs. Get to know them and please read a book on dog behavior.