For me, it was always the impulse to hug, and my mother always hugged us, and told us she loved us. Every day I heard this while I was growing, from her.
From my father, it was cold rejection of hugs or kisses or any form of physical touching. He HATED all that, and there are numerous photos of us as kids with dad, trying to hug him, and he looked distinctly disgusted, rigid and totally uncomfortable and like the experience was unpleasant for him. he never let us kiss him, but it was so strange to see him allow the family dog to lick his face and he would kiss the dog back too. The dog helped him, I believe that, but it was seriously like he loved the dog more than he did us.
If it hadn't have been for my mother, I would have developed into a very different person. I would not be the warm person that I am today, who loves touch and affection, (but only with people I feel comfortable with of course) I'll always be grateful to her for the warmth and physical affection she gave us without reserve. She used to be very different to how she is today. I believe my father eroded her sense of self-esteem and dignity right down until she was someone totally different to who I remembered as a kid.
Both of them are not good for me to be around now, but my mother wasn't always this way.
To this day, if I am in a relationship that does not include hugging and affection, I think the person does not love me. It was quite confusing for me, and for a very long time I did not think my father loved me, because my mother spent the majority of time with me and my brothers, while dad worked, and we were so used to receiving warmth and physical affection, that when I did see dad, and he wouldn't hug me, I interpretted it as meaning he didn't love me, when really it was all to do with his own issues, that had nothing to do with me.
He didn't ever experience love from his parents, I don't think. His mother was nasty to him and his older brother was put on a pedestal, while he was neglected by both parents for most of his life, despite having become a rather successful business man and lived a pretty interesting life, in comparison to his brother, who lived a mediocre life and didn't ever travel or make anything of himself.
I associate love with hugs and warm, physical affection...though I have noticed that I hesitate with males that I have not known for long who attempt to be affectionate and cuddle me. This is how it felt for me to love my parents.
I'm not sure now, as I have had times where I hated them so much and honestly no longer loved my mother, when I was really messed up. I didn't think about them for years, even when I was seeing them, it was like a dream, or rather a nightmare, I hadn't woken up from yet