What happens if I have a driving on suspension charge?

I was pulled over 6 years ago for a driving on suspended, and 4 years ago the same. I was put on as the court here calls it, probation. I paid $260 and still owe about $800. I have been trying to get disability and still fighting, I take meds for back problems and for ptsd. I know there is a warrant for my arrest. They have told my wife that they will take our kids if she don't say where I am, what can I do to fix the problem without painfully staying in jail for 7 plus days?