I'm usually making dinner when dh comes home and the door we use is right off of the kitchen, so I see him right away.

I always give him a hug, if not right away as soon as he puts down his bag and hangs up his coat.
We eat together, head out to do errands (if necessary) and otherwise hang out. Sometimes we play games, sometimes we watch a movie, sometimes we just talk... Usually we'll share either a glass of wine or a cup of tea and a snack later in the evening.