First, since you don’t have a certification (though you mention Group X experience, do you have a group exercise cert?), do not accept payment for any interaction between you and your friends/family. That reduces your exposure for liability somewhat. Also, have anyone you exercise with (It is important that you consider the workouts to be “working out together”. That you are both exercising as exercise buddies, not instructor/client.) sign a brief statement that they are working out with the knowledge that you are not a certified instructor. And that they are responsible for their own safety.
Of course, it would be wisest to be patient and get certified first. If you do choose to work out with your family/friends, be very cautious and start out with low intensity. Low weight/resistance, slow movements, etc. Be sure to have a solid understanding of any exercises you are doing. And if you can’t perform the exercises correctly, don’t do them. If I were in your position, I would find a certified instructor to mentor you. You could arrange to work out with your family/friends in the presence of this person. When I do this for aspiring soon to be instructors, I charge a fee determined by how much I need to perticipate in the role playing work out. My charging the fee also creates a professional relationship between myself and the people working out together. And everyone involved fills out my standard paperwork.
This is a basic answer to your question and does not cover possibe legal issues that could arise. I am not a lawyer or in any way a legal expert. I do not know the laws regarding fitness instruction in your area. I would need to work with you directly in order to guide you at all.