Speak to your local parish priest. While it would usually be a simple step of going to confession and receiving absolution in most cases, you may also wish to attend Classes in the Faith with your daughter, so you can both learn the Faith togeather. You may learn things you have either forgotten or never knew about the Faith, and it will also support her in her journey to the Faith.
If you were Confirmed as a Catholic before you became Episcopalian, you will not have to be re-confimed. If your daughter was baptized in the Episcopal Church she will more likely not need to be baptized again.
You did not mention if you are still married. If you are, you may want to get your husband to join your daughter and yourself in the classes, or take private instruction with you and the parish priest, so he can understand the obligations, and beliefs of Catholics.