Sometimes after my counselling session, my therapist would ask me if I wanted a hug even if the session wasn't technically sad. What does this mean?

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Regularity and routine is comforting to the mind. Counseling is intended to shore up the crazy, emotional part of the brain. Asking is your therapist’s way of gently encouraging a new routine, she thinks it will help with your treatment.

You definitely should ask her about it though.