The way I always saw it done was somewhere near the end of the wedding on the women’s side the couple are seated and the immediate family dance around them, with the brooms. Extended family like the parents brothers and sisters might join in at the end. Then the parents might join at the very end to dance with the kids and sweep them out especially the chassan and Kallah.
It can be very emotional and touching, especially if there are grandparents involved who were zoche to see their children marry off all of their children.