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It might be nice to have the means to hire EPA-Certified cleanup crews to clean up lead dust in areas of old houses, but a lot of people can't afford that.
Wipe it up with a wet rag and rubber gloves, and paint over the old areas where it is coming from. Your kids are only going to be crawling around on the floor licking their fingers for a few years, so immediate reduction is exposure is critical. Even a crappy paint job that encapsulates the lead for a couple years can make a big difference.
If you can afford the pros, go for it. If not, don't let the situation sit while you try to scare up the cash. Using a conventional vacuum is probably not a good idea, unless you can have it exhaust outside (not perfect either, but better than piles of dust inside your kids living area).