Fetching details from the dictionary...
to cling to; to embrace; to throw one's arms around
子供が母親に抱き付いた。
The child clung to their mother.
久しぶりに会った友人に抱き付いて喜んだ。
I was so happy I hugged a friend I hadn't seen in a while.
犬が嬉しそうに飼い主に抱き付く姿が可愛い。
The sight of a dog happily clinging to its owner is cute.