Dakiyoseru (to draw somebody closer to one’s breast) connotes embracing with great emotion. As such, it is almost always used in the context of a romantic relationship, but NOT always so. It could happen between two friends (but remember it means one is drawing the other closer to him/her, not merely two friends embracing each other tightly), and it can certainly describe a parent hugging a child, no matter how young or old the child may be. Here is an example sentence from Kenkyusha’s New Japanese-English Dictionary (研究社新和英大辞典第５版ver. 3.1.2) 母親は戦場から無事に帰ってきたわが子をひしと抱き寄せた。The mother threw her arms around her son, home safe from the war.

I think "抱き寄せる" means that someone makes someone get closer to his body with his hand(s) or arm(s), and usually reminds me of love. When you hugged someone, you could use another phrase, "抱きしめる".