I'd like to make a remark on your presentation on the problem, but I hope you're not offended because I do so with a constructive intention.
Your presentation of the problem references "I" not "we". Its collaboration that is key to getting something off the ground because everyone in regular employment will have an extra amount of labour and some small money available to progress a speculative venture before income is available from it.
Also, by bringing in others, you are testing your basic entrepreneurial skills -- creating and sharing a vision and getting people bought into it. You should be able to raise 20k USD by yourself from friends and family easily.
Sharing is also a sanity check. Defending your idea enhances your understanding of the problem space, and is good grounding for when you face professional investors.
It's emotionally easy to go for investors first, not family because if it fails, there is no blowback to your inner circle. However, that would happen anyway as your focus on the business will mean less time and attention to friends/family.
My last point is it appears there is a contradiction in your presentation of the problem because if you knew the VC problem space dynamic, you'd also know about how to raise initial money. Since you're asking after that, it can't be that you understand the problem space. I don't mean that to be a harsh statement, but doesn't it follow logically?
Once you had you 20k USD from friends/family, you'd seek a co-working relationship with a cofounder to build a MVP, then talk to other entrepreneurs to ask for a recommendation from their angel investor for an introduction to their angel or others. That initial seed series money would also come with the angel's contacts in the VC industry where you could position for some Series A money.
I get the sense you do have good ideas, and I hope that your directing them properly will result in good success for you. Please report back on how you get on!