Changes to W4s

I need to update my W4s because we have had to pay thousands in taxes each year.  I don't understand how to fill out the new W4 forms since the forms have changed.  We file Married with two or more incomes and have (1) 13 yr old dependent.  I looked over my last few years of taxes and it looks like we normally owe about $7200 in Federal and $2500 in (CA) State taxes each year but our withholdings are lower than that causing us to have to pay thousands each year.  Both my husband and I work full time, and my husband also has another part time job.  

How do we each complete the new W4 forms (for both federal and CA state) at each of our three jobs to make sure we have enough deductions taken out each year.