There are two main qualities to keep in mind when it comes to shadows. Hard vs. soft shadows is usually in reference to the shadow edges. Soft shadows have a soft edge that creates a smooth transition from highlight to shadow (such as created by a large softbox or window). Hard shadows have hard edges that create a very quick transition.....hard and soft shadow generally applies to only how the shadow edge transitions. The second is shadow contrast, which is how dark the shadows are as compared to the highlights. You can have soft light while still having very deep dark contrasty shadows and you can have hard light while having very light low contrast shadow areas and vice-a-versa.
With two lights, a good place to start would be to place one light with a large softbox near the camera axis....just above and behind the camera generally works nicely. This is going to be your fill light and should give you a nice even, soft, flat light with very little in the way of shadows since it is as near to the camera axis as you can get. Once you have that light positioned, you can add your key or main light....the purpose of this light is to create dimension by adding highlight and shadow areas to your subjects. For a group of people, you will probably want to position it just to the left or right of the camera and a bit higher than your fill light......a 45 degree angle would probably be a little too much for a group (play with the position to get as much or as little shadow area as you would like). You also have to be careful with groups to make sure that the shadow from one person isn't going to fall across someone else in the group.
From here, you need to balance the lighting between your fill and key light (a light meter is really handy to have for this part). Meter each light separately, making your key light output is slightly more than your fill (1 stop difference is a nice place to start). For instance, if your fill meters at f5.6, meter your key for f8. If the shadows are still too contrasty for your taste, dial back your key a bit. If you want more contrast add more power to your key light (just remember to adjust camera settings for any changes you make). If you're shooting with a large window behind you, you could potentially use that as your fill light (it should act as a large softbox positioned just right if it's right behind the camera). Just meter the light from the window and adjust your key light in relation to the natural light...just keep in mind that this may cause some WB issues if the strobe light temp differs much from the natural light temp.
Another option that's even easier for groups is to use a single large softbox just behind and above the camera (basically just your fill light set-up only I prefer it to be slightly higher than a fill light). This requires very little in the way of adjustments and it usually prevents issues of shadows from one person falling across someone else.