That depends on what you mean by "family" and "bring". You may sponsor your wife and children if you have such. You cannot just bring them to Canada with you, they have no status there until you apply to sponsor them and receive visas for them to travel to Canada. You may also sponsor your parents if they don't have status, however you will need to prove that you can support ALL the people you plan to sponsor.
As a Canadian citizen, you may sponsor them while living outside of Canada, however as you have not lived in Canada for almost 20 years, you will need to prove how you intend to become established in Canada and support your family there.