Calling it "an exceptional case", Judge Peter Kelson QC jailed David Rooke for six-and-a-half years, his son Jamie Rooke for four years and wife Donna Rooke for four months.
Judge Kelson also called it "a wake up call".
David Rooke admitted false imprisonment and ABH, his son Jamie, 19, to ABH and affray and Donna Rooke to battery.
32 year-old Craig Kinsella was kept in the family's garage and made to scavenge for food from bins.
Craig, who has learning difficulties, was made to work from 7:30 am until midnight and beaten with pick axe handles.
The child sex abuse crimes committed by HIV-positive Anthony Marsh's crimes were "especially deplorable," said Detective Inspector Delphine Waring of South Yorkshire Police.
"Knowing he had HIV, he chose to engage in sexual conduct with teenage boys and, in so doing, demonstrated a complete disregard for their wellbeing and future health," she said after Marsh and his accomplice were handed life sentences today.
"But, for Marsh and Davis's victims and their own families, today's sentencing will not be the end of the story," Ms Waring added. "The damage these two men have inflicted will last for many years to come."
The detective said it was possible more victims had not yet identified themselves and urged any people in that position to come forward for help.
Speaking after the sentencing of "predatory" paedophile Anthony Marsh and accomplice Lee Davis, South Yorkshire Police described the men's offences as "the most shocking series of sexual crimes committed against young boys" that the force has investigated.
The pair were said by police to have targeted boys across the country.
HIV-positive paedophile Anthony Marsh and his accomplice Lee Davis are both married with children and managed to hide their crimes from their families for more than a decade.
The men, from near Doncaster, South Yorkshire, used social networks such as Facebook and Bebo, as well as specialist gay websites, to groom teenagers as young as 13, before meeting their victims to sexually abuse them.
Police found a library of films hidden in the cellar of Davis's home showing him abusing the boys.
Officers also established that Marsh distributed some of the footage over the web.
An HIV positive paedophile who groomed teenage boys on the internet and filmed himself having sex with his victims has been jailed for life today.
Anthony Marsh, 53, a salesman from near Doncaster, South Yorkshire, was told he must serve at least 10 years before he is considered for release.
He was jailed at Sheffield Crown Court along with unemployed accomplice Lee Davis, 39, who was also given a life term and told he must serve at least 12-and-a-half years in prison.
Judge Julian Goose QC told Marsh and Davis they were "predatory, dangerous paedophiles". Police have described their activities as "vile, horrendous offences".
A full investigation will begin today into the cause of a house fire that left a two-year-old girl dead, the South Yorkshire Fire Service said.
"A team of firefighters wearing breathing apparatus entered the property and located the fire in an upstairs bedroom, the fire service said in a statement. "A young child was rescued from the bedroom but sadly died."
The man who was found dead in a residential street in Rotherham was a shopkeeper, the Press Association reports citing South Yorkshire Police.
Police said a second man, who was seriously injured, has been taken to hospital where he is undergoing treatment.
Police have launched a murder investigation after one man was found dead and a second seriously injured in a residential street in Rotherham, South Yorkshire.
A police statement said the incident followed "sightings of a man brandishing a machete in Eastwood and Rotherham town centre".
Emergency service were called to the Grosvenor Road area of the town shortly after 2pm today. The street is cordoned off and forensics experts are at the scene.
A 27-year-old man has been arrested on suspicion of murder and is currently in police custody.
South Yorkshire Fire and Rescue Service have confirmed that their crews have a large fire at a recycling plant in Sheffield under control. The service still has 10 crews at the scene and expects to be dampening down for the next few days.