Loud, low noise near Newark, DE ...then 4 oOo shaped lights in sky above in formation....then the helios show up.

My son and I heard it at the exact same time, because we looked at each other immediately.  We didn't talk, I just jumped to the window ans threw up the shade.  
I saw nothing but a faint orang-ish glow.  It shook our walls, it was very loud and very low and no sound either of us could identify hearing before.  The closest description would be "rocket."  
I then went into the backyard, we live away from city glow and have a better nightscape.  
I then see 4 light formations if I was thr middle pointing up and out with both arms to either direction one would be at each pointer fingertip and another at each pinky tip.  Cigar shaped, but 3 lights mainly, one large and 2 smaller on either side.  
No movement. like so oOo      oOo              oOo      oOo lights seemed bright white. 
Strange. 5 minutes after "noise" 5-10 helios began flying around in the area.