you may bring your H4 approval notice, I-94, your spouse H1 approval notice and your passport to the local CBP Deferred Inspection Office or the port of entry to see whether they can change your I-94 duration for you. Altough it is your fault, you still have this possibility if you are lucky. Just explain to them you did not knw the immigration law and thus, it result in your entire family difficulty, etc. (seek mercy from them). May ask the lawyer whether he/she can go with you.
Here is the link for the CBP Deferred Inspection Office/Sites and just find one near your location:
http://www.cbp.gov/xp/cgov/toolbox/contacts/deferred_inspection/
Here is the link for local Port of entry:
