Upvote:3
Roissy-Charles de Gaulle (CDG) is not the easiest in which to do this but there are many official, signed meeting points in each terminal. They're landside, after baggage claim and close to the AΓ©roports de Paris information counters. You might arrange to meet at the shuttle; you don't say which one you're taking, or who is arriving first/earlier. Terminal 2 is very large, and you get to it from Terminals 1 and 3 by taking the CDGVAL airport shuttle trains.
Referencing the airport map, you can select a meeting point that works best for you and your family, depending on arrival times and gates, and your shuttle connection. They are located in: