Husband, in J.R.R. Tolkien's words

The Quenya word for husband is venno.

The Sindarin words for husband is hervenn.

Wife, in J.R.R. Tolkien's words

The Quenya word for wife is vessë.

The Sindarin words for wife are bess ((young) woman; wife) and hervess (wife).

Son, in J.R.R. Tolkien's words

The Quenya word for son is yondo. The patronymic ending (son of...) is -ion.

The Sindarin word for son is ion (son; scion, male descendant) or iôn.

Daughter, in J.R.R. Tolkien's words

The Quenya words for daughter are yeldë and yendë.

The Sindarin words for daughter (daughter; girl, maid) are sell and iell.

Tolkien revised his words too. The second words are the later defined words, but they may or may not replace the first word.

Brother, in J.R.R. Tolkien's words

The Quenya words for brother are onóro (brother, of blood kinship), toron (brother (older Quenya)), háno or hanno (brother (possibly a replacement for toron)), and otorno (brother, sworn brother, male associate).

The Sindarin words for brother are muindor (brother) and gwador (brother, sworn brother, associate).

Sister, in J.R.R. Tolkien's words

The Quenya words for sister are seler (earlier source), nésa (later source and possibly a replacement of seler), onórë and osellë (female associate, sister).

The Sindarin words for sister are muinthel (note: muin translates to dear), thêl, and gwathel (sister or female associate).

Father, in J.R.R. Tolkien's words

The Quenya words for father are atar (father) and atto (daddy).

The Sindarin words for father are adar (father) and ada (daddy).

Mother, in J.R.R. Tolkien's words

The Quenya words for mother are amil or emil (mother) and mamil (mommy).

The Sindarin words for mother are naneth (mother) and nana (mommy).