Dave, the form you need is VAF4A
Here is a link to the paper version for your review so you'll know what's involved
The actual application needs to be made online.
When you look to the online application:-
The Type of visa = settlement
Purpose = settlement
Type of Application = a) Wife
= b) Child or other dep
This form needs to be completed by your wife for herself, and an additional one also by your wife on behalf of her daughter. It's the same form for both.
The fee is £851
It's not the dependent dependant relative