I am thinking of going back but any advise on how I should do it? - You can just walk into one of their public meetings. Depending on what level you reached during your previous studies, you may be temporarily (or permanently by some) shunned as you have "already taken of the solid food and not in need of any more milk" and subsequently "fell back" in your life of sin and "returned to your vomit".
Do you have to be baptized in order to be "Saved"? - Yes, in order to be 'saved' according to the JW faith (meaning you will survive Armageddon) you have to be baptized AND REMAIN a JW AND not commit grave sin AND not question their reasoning AND never question or disobey their Elders, their Organization or their Governing Body.
What about our friends and family? - The JW will become your family and your friends, as Jesus said to his mother - "who is my mother and my brothers". Once baptized, you will not be allowed to have close contacts with your friends or family that are outside the JW.
Will they be with us in the future? - If they do not become JW then they will be "judged" for destruction. Even if they are dead, they will be resurrected and if they do not accept the JW faith, they will be resurrected for death.
Please note that this is official JW doctrine however the JW's will use a number of evasion techniques when explaining these things to you. However you can find these things in their more 'advanced' literature, typically not in the stuff you get when you're not baptized.