If you have registered your family in the NPR(National Population Register) (the reddish coloured form if you could remember) in Census you don’t have to go anywhere. Officials will visit your house and will deliver a form where the names of your family members, date, time and place for biometric data collection are mentioned. It will be better if you enquire in your locality
Mostly NPR / Census authority are doing Aadhar work
Just keep an eye on biometric capture schedule or inquire census / municipal / local government office. Aadhar camps are in general merged with NPR biometrics work.