You have to get them frozen off. It's very painful. The doctor needs to do it, wait about 30 seconds and then do it again. That's an important part of the process. Sparing you pain by not continuing to freeze it just keeps you having to go back multiple times to get them frozen. And no, it doesn't work the first time, but suck it up and accept the pain each time so you get through this faster.
You and your family members need to be wearing flip flops in the shower and NOT walking around barefoot until all the warts are gone. It's a virus you have given to each other. If you and your kids go to a gym or pool, it's really very important. You can also catch foot fungus in these places. And that's harder to get rid of than warts.
My kids had the same issue with warts because of swim team. I had a plantars wart too. So painful, but I just had to go through the pain of getting it frozen until it was gone. These warts dig deep, and the longer you wait to address it, the deeper they will go.