It does sound like they need to go to a basic obedience class - not only will it teach them, more importantly, it will help you learn how to deal with them. I would call your vet, or a nearby animal shelter, and ask if they have any recommendations for a good obedience class for your dogs, and ask whether you should bring both dogs, or one at a time.

It sounds like they are running you, and not the other way around. Good luck, and do let us know what you decide. The sooner you do this, the sooner things will settle down!