Finally out of debt, where do I start?

I am a 32m, with a wife and kids. After making some horrible financial decisions at the beginning of our marriage we have managed to finally get out of debt, almost 7 years later.

It has been a goal of mine to help create generational wealth for my family. I can save roughly $150-300/mo (outside of my 6% towards my 401k as well as $100 per child per month for their 529s) but I just don’t know where to begin. Many of the stocks everyone mentions are expensive so I am getting overwhelmed on which to choose.

I would love some words of encouragement and maybe some stocks I can begin with to start my portfolio. I am aiming for 10k in about 5 years.

Thank you and much appreciated!