Greeklish-
You're actually in great shape. Here are the good things you have going for you as I see them:
1. You are driving a 10-year-old car
2. You have a high income
3. Probably most importantly, you are reading MMM and receptive to his message
The first order of business is to dump your blood-sucking second car. One car is plenty for a family of three -- you can likely get to work via biking, public transportation, or a combination thereof. If you
really need a second car (and I do suggest reading some of the MMM posts on the subject -- because you almost certainly do not need a second car), you should go out and buy a used car on Craigslist. You can buy this cash, and replenish your cash cushion (a good idea) with what used to be your car payments.
Next, you're going to have to start saving money. You're already be saving over $300/month from the non-car-payments, plus savings from gas (since you're reading MMM and will start to use your car(s) less). There are plenty of other areas where you can cut spending (I won't go into specifics about how to cut expenses, as the MMM blog has nothing
but these kinds of tips).
Finally (and really, this should be done at the same time as cutting expenses), you need to start investing. No employer match? Bummer. That doesn't mean you shouldn't be contributing! The only reason not to contribute to your 401(k) is if you're saving less than $10k/year (for a married couple), and you'd rather have more control over your investments -- then you should be investing in an IRA. Once you get up to $10k/year (NO PROBLEM on $100k/year -- you should be saving $5k/month! Just keep reading the blog.), the balance should go to maxing your 401(k) contribution limit. After that, you can follow the progression found in the MMM article below:
http://www.mrmoneymustache.com/2011/04/10/post-4-what-am-i-supposed-to-do-with-all-this-money/Get the ball rolling, and you'll see how easy it is. One last word of advice -- make sure you get the fam on board (look for "The Talk" on MMM).