Help with Invitation Wording?

FH and I are working on our invitations are getting stuck on the wording. Here's the situation, his parents are both doctors and my parents are not. We want to include both sets of names in the invitation (althougth 'Together with our parents' would probably be easier). If we include the titles, everyone's first name is mentioned except my mothers.

Mr. and Mrs. Joe Smith
&
Doctors Joe and Jane Doe

The alternative would be to leave off the titles; is this disrespectful?

Joe and Jane Smith
&
Joe and Jane Doe

What do you think? Thanks for your opinions!

WWW.INVITATIONCONSULTANTS.COM

This site has invitations, wording for invitations of all different circumstances..My FI father past away and I needed to know how to word the invite and it has all types of suggestions.

if this link isn't working for ya, just FM me and I'll look into it for you

P.S it tells you how to correctly address all envelopes as well