Yes, assuming they are re-entering the US while the initial I94 is still valid. If you visit other countries such as England or Costa Rica, then return to the U.S., your re-entry will be considered to be a new admission, rather than a re-entry from a contiguous country in the course of your initial visit, and the admission inspection may be more strenuous.
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Yes you and your relative can. Be sure you have a valid passport.
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