Hadithcore
Riyad as-Salihin, 891

'Aishah (May Allah be pleased with her) reported:

Zaid bin Harithah came to the Messenger of Allah (ﷺ) when he was in my house. Zaid knocked at the door. The Prophet (ﷺ) rose to receive him, trailing his garment. He embraced and kissed him. <b>[At- Tirmidhi]</b>.

وعن عائشة رضي الله عنها قالت‏:‏ قدم زيد بن حارثة المدينة ورسول الله صلى الله عليه وسلم في بيتي، فأتاه فقرع الباب، فقام إليه النبي صلى الله عليه وسلم يجر ثوبه، فاعتنقه وقبله‏"‏ ‏(‏‏(‏رواه الترمذي وقال‏:‏ حديث حسن‏)‏‏)‏‏.‏

References1 variant
In-Book Reference
Book 5, Hadith 48
Sharh · explanationclick to expand
<b>Guidance from the Hadiths:</b><br> 1) It is permissible to hug a person and kiss his hand due to a casual event, like returning from travel or the like.<br> 2) Dragging one’s garment, if done unintentionally and accidentally, does not fall under the prohibited Isbāl (letting the garment reach below the ankles).<br> 3) The Prophet (may Allah’s peace and blessings be upon him) was modest towards the Companions and he used to do what brought joy to their hearts.<br> 4) standing up to receive and greet someone who returned from travel does not fall under the prohibition to stand up for someone.