Can my children convert to Catholicism?

I was raised catholic and completed all of the sacraments. My husband was raised Lutheran. We were married in a Lutheran church as he did not want to convert to Catholicism. We now have three children. All of which have been baptized in a lutheran church. We are seriously discussing raising the children catholic. Is this an option even though they have been baptized lutheran? What steps would we need to take? Thank you for any help. :confused:

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