Get RRV and then apply for a partner visa for them is the simple answer.
However, if you are offshore and don’t hold an RRV then you don’t “have PR”, you are a former permanent resident. Unless you meet the 2-year residence requirement for an automatic RRV, can apply for a new RRV on the basis of having substantial ties to Australia. Whether that is the case will depend on the circumstances. Some professional advice would probably be helpful to get you started … this will cost a small amount (couple of hundred $/£) compared to the $13,000+ the partner visa will cost for the family.