Here's what I have in mind:
Door has variable Open (number) = 0
PlayerFamily has variable Key(number) = 1 (this to prevent one player passing door multiple times)
Condition: PlayerFamily on Collision with Door AND PlayerFamily Key = 1
Action: Set PlayerFamily Key to 0
Add 1 to Door Open
Condition: Door Open = PlayerFamily.Count
Action: make door open (your mechanic)