Work with a partner in this way: both students work to hug their partner in some way and avoid getting huged by them at the same time. Work with the body walking and working through the pendulum and guide the other students arms as you give some support and move away to put your arms around them. In case you close your hug and you are huged yourself you need to escape because your own freedom is more important than a job and if you reach a hug that the partner cannot hug you through than you have found a natural movement by your own work.
For example if a partner comes to hug you from the side you guide one of his hands to continue the motion as you relax the hips and move within his grasp but free from it and from there hug him from behind and he will try to escape as you guide him toward a destination or to the ground.
Once you do this for a while work with one arm to simply stay free as your partner works with both arms. Also note where you can push and pull him on the shoulders and hips that works best for guiding his body where it works for you.
Once you do this for a while do the same as you work only with legs and than with your eyes closed.