Short answer
Yes. Kissing and hugging your children is a sunnah of mercy. The Prophet ﷺ kissed his grandson al-Hasan, and when a man said he had never kissed any of his ten children, he replied that whoever shows no mercy is shown no mercy. The four schools agree.
Kissing one's children out of mercy and affection is mustahabb. A father may kiss his daughter, and a mother her son, on the head, forehead or cheek at any age, as long as there is no desire.
The four schools agree on this.
Explanation
Al-Aqra ibn Habis saw the Prophet ﷺ kiss al-Hasan and said: I have ten children and I have never kissed one of them. He looked at him and said: whoever does not show mercy will not be shown mercy. A Bedouin once said in surprise, "You kiss children? We do not kiss them," and he answered: what can I do for you if Allah has taken mercy out of your heart?
Affection is part of the faith:
- When Fatimah came to him, the Prophet ﷺ stood, took her hand, kissed her and sat her in his place, and she did the same for him.
- He carried his grandchildren on his shoulders and let them climb on him in prayer.
- Children who receive warmth usually find it easier to love their parents' religion.
Older children: keep showing love as they grow, in ways that suit their age: a kiss on the forehead, a hug, a hand on the shoulder, warm words. A father kissing his adult daughter on the forehead or head, or a mother her grown son, is permitted, since they are mahram, as long as it is plainly the affection of family.
Other people's children: kiss and hug only with the parents' comfort, and respect the child's own wish not to be kissed. Teach children that their body is their own, and that no adult may touch them in secret. See child abuse in Islam and hadith about kindness.
The evidence
Sahih al-Bukhari 5997
Sahih... من لا يرحم لا يرحم ...
"Whoever does not show mercy will not be shown mercy."
Said when a man boasted he never kissed his children.
Sahih al-Bukhari 5998
Sahih... أو أملك لك أن نزع الله من قلبك الرحمة ...
"What can I do for you if Allah has taken mercy out of your heart?"
Not kissing children was seen as a lack of mercy.
Sunan Abi Dawud 5217
Grading to be checked... قام إليها فأخذ بيدها وقبلها وأجلسها في مجلسه ...
"He would stand for her, take her hand, kiss her and seat her in his place."
The Prophet kissed his grown daughter Fatimah.
Where the ruling is recorded
- al-Fatawa al-Hindiyya, Kitab al-Karahiyya, chapter on embracing and kissing. Kissing a child out of mercy is permitted, and a man may kiss his mahram without desire.
- Radd al-Muhtar (Ibn Abidin), Kitab al-Hazr wal-Ibaha, section on looking and touching. Rules on touching mahram relatives.
Checked by our team. For a more accurate answer to your own situation, consult a scholar. Quran translation by Sahih International. Hadith Arabic from the standard editions of the six books and the Muwatta, with gradings as recorded there; the English is our own rendering. Spotted a mistake? Tell us.