How do I make this work for multiple people?

Well, think of it like this. You basically want to keep count of how many people are in the door, correct? So, make a variable called count, or something else. In your Touched function, after line 3, add count = count + 1. In your TouchEnded, count = count - 1 Now, here's the part where it checks. In your TouchEnded function, before it closes the door, have it check if count is equal to 0! So, here is your script:

count = 0

script.Parent.Touched:connect(function(hit)
	if hit ~= nil then
		game.Workspace.Door.BodyPosition.position = script.Parent.AYE.Value
		count = count + 1
	end
end)

script.Parent.TouchEnded:connect(function(leave)
	if leave.Name == "Head" or leave.Name == "Torso" or  leave.Name =="Left Leg" or  leave.Name =="Right Leg" or  leave.Name =="Left Arm" or  leave.Name == "Right Arm" then
		wait(1.5)
		count = count - 1
		if (count == 0) then
			game.Workspace.Door.BodyPosition.position = script.Parent.BEE.Value
		end
	end
end)