He immediately moves her against the wall, out of harms way. He nervously squeezes her shoulder and smooths her coat, leaning in close to look her in the eyes and holding onto her maybe a little longer than necessary while he makes sure she’s not hurt, but not long enough for him because his hand shakes and he’s desperate to hug her. He and Glenn must have been panicked out there, following the trail she left.
When he hugs her, it’s definitely to comfort her but it’s also to reassure himself that she’s really there, alive and okay.
It’s pretty obvious that he absolutely loves her.