Wow! What a story.
You will laugh about this in a couple months, after a few beers with your mates - so it must have been an adventure......
Adventures are rarely fun when you're living through them though..
I hope the kids weren't too traumatized.
Ice, Advil, and benadryl will help ( assuming you aren't allergic to them) . Epinephrine if you really need it.
A few weeks ago our back yard was swarmed with hundreds of wasps flying just above the grass - but when we walked through the swarm they just parted and ignored us - never saw anything like it - my spouse found them on the web after we photographed them to identify them - the blue winged wasp Scolia dubia
It sounds you you met up with some yellowjacket wasps, from your description of their behavior