Help with bee, wasp or MONSTER Hornet!!

Last summer I saw something that was larger than a Hummingbird with a masive stinger looking rearend that went into the grass next to the edged driveway. My wife laughed at me cause I get like a scared little girl around bees. Well, it's back and this time my wife saw it go into a hole in the grass. She grabbed a can of wasp spray foam and filled the hole. That one came out and flew away and there was a bunch of movement at the top of the hole...what the hell could be 4" long and how do I get rid of them? Thanks