OMG!! Lucy has fleas!! And a SERIOUS case of them!

We went to visit my cousin in the country over the 4th and she has a tons of dogs, so I have been watching closely for ticks and fleas. I found a tick on Lucy Monday and pulled it out; seemded to go well. I found a flea on her and killed it to. Well, we traveled home and yesterday she looked pretty good. I admit, I did not check her bedding until this morning and there are fleas everywhere! I just put al of her stuff in hot bleach and deteregent in the washer, quarantined her and the other dog outside and now need to know what to do next!! I'm certain they both will need a flea dip, but do I take them to a vet or can I do this at home?

What do I use? I'm totally freaking out right now... I NEED HELP ASAP!!!!!!!!! ACKKKKKK!!!!!