The best way is to create your own furniture objects as 3d Revit Families.
Anyway , you can import .dwg files ( with layers for each distinct material) into Revit Furniture Family and then load it into Revit project. The problem with these method is that you can not use other parameters except those of material ( if you have allocated these to different layers in AutoCAD).
The Revit families can be gathered into a "library " in a .rvt file where from you can bring using Copy/Paste into your your project.
You can see below one of my "library" file. You can bring only the types that are shown into the project.

If you have multiple types of the same family ,then you can use Family Types tables (.txt files) ,to import only the desired types of a family.
You can see below how to Export a bunch of Family Types into a Family Type .txt file :

and how a Family Types table looks when loading family with this:

Constantin Stroescu
