2 Samuel 14:33
So Joab came to the king, and told him: and when he had called for Absalom, he came to the king, and bowed himself on his face to the ground before the king: and the king kissed Absalom. So Joab came to the king, and told him: and when he had called for Absalom, he came to the king, and bowed himself on his face to the ground before the king: and the king kissed Absalom.
Through Joab's influence and arrangement Absalom was restored to his father's presence. Absalom came before the king and bowed himself to the ground in submission. David received Absalom back. David's kiss was a sign of welcome and restored relationship.
Yet the reconciliation was only outward, for Absalom continued his ambitious scheming.