Vālmīki Rāmāyaṇa, Yuddha-kāṇḍa, Sarga 127
The exact passage where Bharata welcomes the returning Rāma and Rāma lifts and embraces His younger brother.
Rāma embraces Bharata after their long separation
Vālmīki Rāmāyaṇa 6.127.34
प्राञ्जलिर्भरतो भूत्वा प्रहृष्टो राघवोन्मुखः। स्वागतेन यथार्हेण ततो राममपूजयत्॥
Overjoyed Bharata faces Rāma with joined palms, welcoming and honoring Him in a fitting manner.
Vālmīki Rāmāyaṇa 6.127.38–39
आरोपितो विमानं तद्भरतः सत्यविक्रमः। राममासाद्य मुदितः पुनरेवाभ्यवादयत्॥ तं समुत्थाप्य काकुत्स्थश्चिरस्याक्षिपथं गतम्। अङ्के भरतमारोप्य मुदितः परिषष्वजे॥
After being brought onto Puṣpaka, Bharata greets Rāma again. Rāma rises, draws the long-unseen Bharata onto His lap and joyfully embraces him.
Vālmīki Rāmāyaṇa 6.127.40
ततो लक्ष्मणमासाद्य वैदेहीं च परन्तपः। अभ्यवादयत प्रीतो भरतो नाम चाब्रवीत्॥
The delighted Bharata then reverently greets Lakṣmaṇa and Sītā.