It all comes down to the type of relationship you have defined on the models.
What you're trying to do is if it's a One to One relationship, meaning that a Family has only one Contact, which seems not to be the case when you're naming it "contacts".
This means that it's most likely a One to Many relationship, meaning that a Family can have many Contacts. the contacts is property an array of objects.
@foreach($families as $family)
echo $family->contacts[0]->first_name
@endforeach
The above code should print out the first name of the first Contact for a Family.
You can read more about the various relationship types in the docs: http://laravel.com/docs/5.0/eloquent#relationships