grliti

1. (+ acc.) to hug; to embrace
   Baka me uvek grli kad dođem. — Grandma always hugs me when I come over.
   Majka je grlila dete i plakala. — The mother was hugging her child and crying.
2. (grliti se) to hug each other; to cuddle
   Na aerodromu su se dugo grlili. — They hugged for a long time at the airport.

For a single completed hug use the perfective zagrliti.