My T and I never discussed hugging for months. After about 6 months, I started to connect with her and at the end of one session, I asked if I could hug her. She said sure, so we did. The next session, I gave her a small gift that was meaningful to her. She looked at me and said, "Chopin, I have to hug you" and did. Now we hug at the end of each session.

An uninvited hug would seriously weird me out, though. They weird me out in RL, so they would weird me out in therapy also.