h1 first time can I travel with dependents first time

[javafirst]

HI
My H1b got stamped recently with family memebers,my visa expiration is till october 2017.
Question 1) Can I travel with dependents for the first time do I get any issues
2) can I apply extension while we are in US so no need to travel back to india for 1 year
3) if first time travel with family is tough which option is the best for me