At their deaths, believers may be carried by angels to heaven, as Lazarus was (Luke 16:22). These angels could include one or more who have served and protected us while we were on earth (Heb. 1:14). Some angels are specifically assigned to children and likely accompany them to heaven (Matt. 18:10).
We will meet our Lord face to face (Ps. 17:15; 1 John 3:2; Rev. 22:4). Those who have served him faithfully will hear him say, "Well done" (Mt. 25:21; Luke 19:17). Eventually he will wipe away the tears from all of our eyes (Rev. 21:4).
Some believers will receive a "rich welcome" when they enter heaven (2 Pet. 1:11). It seems likely those who on earth have impacted or been impacted by the arriving believer (perhaps including family members), and who have gone to heaven before him, may participate in the welcoming celebration.
For more information on this subject, see Randy Alcorn's book Heaven.