tbh I think it kinda depends on the family and what relationship you have with them.
When I'm down or just tired I just walk up to my mom and hug her, she's used to it, I had it like this since I was a kid, my older brother did the same.
My advice would be to just go for it, but that's up to you.
Family should always be there for you, whether it's for support, comfort or anything else.