Afternoon

I went to the library to study English this afternoon. I studied until 6:00 p.m.* Then I came back home** where my wife and children were waiting for me to have dinner. Now they are asleep and I am writing to this topic.

*Most people don't say "o'clock," it's perfectly fine to but it is more common to simply write 6:00 p.m. 

**You don't have to say "my home," since by saying home, you're implying that the house is your's. Also, with children, you don't have to say "my" again since you already said "my" before "wife" so it's implied that the chilren are yours too.

Have fun learning English! :)

afternoon

I went to the library to study English this afternoon. I studied until 6:00 P.M.. Then I went home where my wife and children were waiting for me to have dinner. Now they are asleep and I am writing about this topic.

Afternoon

I went to the library (for study English) this afternoon (. I) and studied English until 6.00 (o'clock) p.m. Then / After which, I returned (came back to my) home where my wife and my children were waiting for me to have dinner. Now, they are asleep as I write this article. (and I am writing to this topic.)

Afternoon

I went to the library for to study English this afternoon. I studied until 6.00 o'clock p.m. then I came back to my home where my wife and my children were waiting me to have dinner with me. Now they are asleep and I am writing to about this topic.

You cannot "wait" somebody. However, you can wait "for somebody".

Ex: My family was waiting for me at the airport.

     My family was waiting me at the airport.

The reason I chose to put "with me" at the end of the sentence, was because your wife and children are going to have dinner with you. They are not waiting for you (alone) to have dinner.

Lastly, you can't really write to a topic, but you can write about a topic!

Hopefully i helped a little and I am sorry if I was confusing to you! Any questions are welcome. :)