To cling to or throw one's arms around someone; to hug or cling tightly (often from affection or seeking comfort).
小さな子が母親に飛びついて抱きついた。
The small child jumped at his mother and clung to her.
彼女は寒さで震えていたので、友達に抱きついて暖を取った。
She was shivering from the cold, so she clung to a friend to get warm.
犬が飼い主に嬉しそうに抱きついた。
The dog happily threw itself at its owner.