Apple watch won't connect to wifi

My and my son's apple watch will not connect to Wifi. On my watch, when I choose my wifi network, I get a notification that the watch is unable to connect to the network. On my son's watch, I choose my wifi network, it prompts me for my wifi password, and then I get the unable to connect to the network message. I have tried sharing the password from my cell phone and entering it manually, and it doesn't work either way. My phone, laptops, and TVs are all connected to the Wifi without issue. I tested my wifi speed, no issues there. I unplugged my routers and plugged them back in, everything reconnected fine, but I am still unable to connect the watches. I tried turning them on airplane mode and then off, and I tried restarting the watches. I continue to get the unable to connect message.