Wife lutheran i'm catholic?

I'm a catholic and received all the sacraments..my wife is lutheran...we have two children..one step son to me and one biological..they were both batptised by a non-denomination priest...my question is this..can I take them into the catholic religion? my one stepson is already almost 9 and missed first holy communion....is this possible or willt he catholic church not approve..i go to church periodically..i'm not by any means a church goer..however i do think it's important for my kids to have some kind of religion...