For yourself, all you would need to do is go to confession, and be absolved. Confirmation like baptism and holy orders are only confired once in our lifetimes, the graces from your baptism and confirmation are still with you.
Your daughter will need to take instruction and be received into the Church. If she was baptized in the Episcopal Church there will be no need to have her baptized again, as baptism is what makes us an adopted child of God. You may wish to attend the instructions with her, so you can learn or refresh yourself in what it means to be Catholic, and help her understand what she is learing.
You will be in my prayers, welcome home.