I taught my Wookie how to hug.
When hubby and I would argue, I look at Wookie and he looks sad. I would then say, "Mommy Sorry, Hug Wookie" and open my arms, and grab him and hug him. He would lay his head on my shoulder and put my hand on his neck and leave it there for like 30 seconds. We do this a few times, so now when I say the word "Hug" and open my arms, he would come to me and hug me and put his head on my shoulders with out me having to "keep my hand on his neck for support".
Wookie also knows the word "Sorry" too. I would pinch his butt to play with him, he gets annoyed, wiggle his tail with his butt in the air and nip/growl to play back. Then I would say "Mommy Sorry, Wookie" then he would do that kiss where he rams his mouth on your face and runs away and everything is forgiven.