At their deaths, believers may be carried by angels to Heaven, as Lazarus was,  "And it came to pass, that the beggar died, and was carried by the angels into Abraham's bosom:" (Luke 16:22)

These angels could include one or more who have served and protected us while we were on earth,
"Are they not all ministering spirits, sent forth to minister for them who shall be heirs of salvation?"  (Hebrews 1:14)

Some angels are specifically assigned to children and likely accompany them to heaven,
"Take heed that ye despise not one of these little ones; for I say unto you, that in Heaven their angels do always behold the face of My Father which is in Heaven." (Matthew 18:10)

We will meet our Lord face to face,
"As for me, I will behold Thy face in righteousness: I shall be satisfied, when I awake, with Thy likeness." (Psalm. 17:15)

"Beloved, now are we the Sons of God, and it doth not yet appear what we shall be: but we know that, when He shall appear, we shall be like Him; for we shall see Him as He is." (1 John 3:2)

"And they shall see His face; and His name shall be in their foreheads." (Revelation 22:4)

Those who have served Him faithfully will hear Him say,
"His lord said unto him, Well done, thou good and faithful servant: thou hast been faithful over a few things, I will make thee ruler over many things: enter thou into the joy of thy lord." (Matthew 25:21)

"And He said unto him, Well, thou good servant: because thou hast been faithful in a very little, have thou authority over ten cities." (Luke 19:17)

Eventually He will wipe away the tears from all of our eyes,
"And God shall wipe away all tears from their eyes; and there shall be no more death, neither sorrow, nor crying, neither shall there be any more pain: for the former things are passed away." (Revelation 21:4)

Some believers will receive a "rich welcome" when they enter Heaven,
"For so an entrance shall be ministered unto you abundantly into the everlasting kingdom of our Lord and Saviour Jesus Christ." (2 Peter 1:11)

It seems likely those who on earth have impacted or been impacted by the arriving believer, including family members, who have gone to Heaven before him, will participate in the welcoming celebration.