Having to hold her again in his arms, reminded Legolas of the first up-close encounter during the Battle of the Five Armies. When he looked inside her eyes, and saw the light within them, when he felt her touch for the first time, up to the point where he had to depart. To this day, a part of him regretted all those times where he treated her poorly back in Mirkwood, shortly after meeting her for the first time. However, after she saved his life, he saw something unique within her and, to this day, felt the necessary means to protect her, after it reawakened a strange feeling he had never felt for such a long time. 

The Elven Prince was honestly surprised to his closest friend/sister to be on the grounds of Rivendell. He remembered about her banishment from the Woodland Realm, but out of all places, he manages to find her at the last homely house near the sea. He thought about this the whole time he had been embracing her, but brushed away such thoughts, after having to realize that she was here, in his brotherly-like arms. "You have no idea how much I've missed your company. [i]Both of you[/i]", he said, having to smile to himself, feeling relieved that they were both alive, and in the same place together. After a few moments, Legolas released Tauriel from their embrace.