Grammar question, does the following sentence correct and normal? Thanks for any help.?

No. Haunting does not belong in that sentense at all.

"Haunting " means that ghosts and spririts are out to get you like in a Horror movie.
"Palatable" is tecnically correct, but is awkwardly used in that sentense.
"Food" Is more commonly used as singular rather than plural
"reminds" should be past tense "reminded"

Try this instead.
"Having first tasted the dishes cooked by us, it reminded them of delicious food they had a long time ago.

"Having tasted the palatable dishes we cooked, reminded them of the deliciously haunted food they had a while ago"

i think i made a few drastic changes though, sorry :P

IS the following sentence correct and normal? NOT DOES the following sentence,,, ALSO, you are learning English, or an English student, NOT an English a learner,

Having tasted the palatable dishes we cooked, they were reminded of the hauntingly delicious foods they had long time ago.