ĉirkaŭbraki

Three words for a hug, and they are not the same word. This is the pleasure of the band. Esperanto has built the same gesture three times from three different angles, and each build tells you what part of it the speaker is looking at.

Brakumi at 1,759 is the ordinary one. It is brako plus -um-, the deliberately vague suffix that means "do the characteristic thing with this noun". What you characteristically do with arms is hug, so brakumi is the everyday, unmarked verb: the one you use when a friend arrives, the one that turns into brakumo for the hug itself. If you want one word for hugging, this is it.

Ĉirkaŭpreni at 2,469 is take-around. The root is preni, to take, so the emphasis falls on the taking hold: gathering somebody in, enclosing them. It is the warmest and the most literary of the three, and it is the one that also works for a coat around the shoulders or a wall around a garden.

Ĉirkaŭbraki is arm-around, and it is the most physical. The root here is the brako itself, not the taking, so the picture is of arms going round something. That is why it takes objects the other two would find odd: a tree trunk, a barrel, a pillar. With a person it reads as the sudden, whole-body hug rather than the polite greeting. Ŝi brakumis lin is a hug; ŝi ĉirkaŭbrakis lin is a hug you can see from across the room.

In practice. Nobody will misunderstand any of the three, and speakers use them loosely. But if you want your Esperanto to be precise, use brakumi by default, ĉirkaŭpreni when the warmth matters and ĉirkaŭbraki when the arms do.