Lisa Barnes, aged 38, and Saffrine Scotland, aged 21, carried out a robbery at a property in Wellingborough on January 7 last year.
Northampton Crown Court heard Barnes used physical force to restrain one of the occupants and the pair went round the house taking items they believed to be of value.
His Honour Judge Timothy Smith said it was a “terrifying incident” aggravated by the fact young children were in the property at the time of the robbery.
Both women pleaded guilty to a charge of robbery on the day a trial was due to start earlier this year.
Barnes, of Newcomen Road, Wellingborough, was sentenced to 41 months in jail. Scotland, of Sassoon Close, Wellingborough, was sentenced to three years in jail. They will both serve half their sentence in custody before being released on licence.