Rachel nearly cracked when her mom rubbed her back, but she managed to keep it together. Barely. And she didn't say anything that hinted at her past and what she'd had to go through, so that was good going.
The twins clearly wanted in on the act as well, babbling up at them as they hugged each other, and yes, Rachel wanted to pick them up and hug them and play with them and everything, but... she was hugging her mom.