I was 35 when I did this so it's not like it can't be done. But if you don't have full Chapter 33 benefits for 20ish months and/or guaranteed vocational rehab entitlements (which it sounds like you don't) I caution against it since you already have a good paying job and you're supporting a family. Dreams are fine to chase, but you gotta eat. Your family's gotta eat. So you need a plan.

If you've got the benefits, then great. 1. Finish your undergrad 2. Study for the LSAT until you get average a score above your target school's median 3. Put that on record 4. Come back here for advice on applying.

If you don't have the benefits your uGPA suddenly becomes far more important. You're going to want to pay as little money for law school as possible since, like me, you're not young and those back years of compounding interest are what makes the career change financially viable. We're limited in those years. If you can't get both a uGPA and LSAT score above your target school's medians you're going to have to do some mental math to make this financially viable. Be sure to include any potential retirement benefits that you're leaving now in your analysis.