A police dog was used to help track one man nearby while the other two were located at a property a few houses down.
Police tape was used to cordon off the family's property as detectives investigated the scene yesterday morning.
Outside their home, the family declined to talk to the media.
Neither the father, the 40-year-old mother nor their children required medical treatment following the incident.
Neighbour Sarah Codey said she and friends had been up until 4am yesterday but did not notice anything unusual.
"That's the bizarre thing, we didn't hear anything," she said.
"It's a bit odd. All the neighbours have been ringing each other about it but nobody heard anything. The people right next door didn't hear anything."
Ms Codey said the area was relatively tight-knit, with most people knowing each other, "especially the kids".
Other neighbours living on either side of the house were not home when visited.
Three men aged 18, 20 and 22 were arrested. They were charged with aggravated burglary, threatening to kill, assault and attempting to unlawfully take a motor vehicle.
The three remained in custody until their appearance in court today.
Anyone who noticed suspicious behaviour in the Kaitemako Rd and Waipuna Grove area has been asked to contact Tauranga police on 07 577 4300 or to provide information anonymously on the Crimestoppers line 0800 555 111.
