The best way would be to setup an in ear monitor rig, since your sitting and not moving around much you can go with a wired setup and you can piece one together for fairly cheap. You'll need a small mixer, a pair of in ears and some 1/4" cables, a headphone amp and an overhead mic for your kit are also things you MIGHT want but don't necessarily have to have.
You can probably run a direct out from the guitar amps depending on what type of amps they are, my guitarist uses two amps and I run a 1/4" cable from the line out on one head and from the pre amp out on the other into seperate tracks on my mixer, I also run a 1/4" cable from the monitor out on the PA into my mixer and I have a cheap SM57 copy that I put on a boom and use as an overhead for my drums and I run that into my mixer and I run a click into the mixer, I run the L and R outs from the mixer into a headphone amp just so I can run the volume low. With this setup I have volume control over each instrument and vocals so I can get the mix I want. The cables were cheap, the SM57 copy is a Pyle-Pro PDMIC78 that I got off Amazon for $10 and the in ears I use are Mee Audio M6 Pros that I got off amazon for $25, my whole setup was right around $100 and it works perfectly for practice.
If you put a mic or something in the middle of the room and plan on using that as a monitor that COULD work but you're going to have a hard time finding a spot to put it where you don't get a lot of cymbals and drums bleeding into it.