"I hope we never stop doing" this, the HGTV star wrote of the family's tradition

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Erin Napier
Credit: Erin Napier/Instagram. Inset: Manny Carabel/Getty

HGTV star Erin Napier is revealing the sweet "family handshake" that she shares with her husband Ben Napier and their daughter Helen, 3.

The Home Town star posted a photo on Instagram Sunday of the three touching the tips of their index fingers together.

"'I need a family touch, mama daddy.' 💓 (our family 'handshake' at bedtime and when we leave for work that I hope we never stop doing.)," Erin wrote in the caption.

The post gave fans a glimpse into their family time, which Ben, 37, and Erin, 35, are careful about sharing on social media.

In December, Erin deleted a photo she'd shared of Helen due to "vicious" comments about the toddler's hair as well as the family's handling of the coronavirus pandemic.

"Your quarterly PSA about how to be a decent person on social media," she reminded fans on Instagram at the time.

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The parents don't show Helen's face on social media, and they choose to keep her off camera on Home Town. Erin recently opened up about those decisions, saying she and Ben are trying to protect Helen's image until she is old enough to control it herself.

"We are the protectors of her image," Erin wrote on her Instagram Story last week. "Without Helen, our lives would be hollow and there would be nothing to share. She exists and we are proud of her. But her likeness is ours to protect and decide when it's okay to share, no one else's. That's our personal choice, and it's not the same for everyone."

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"We love and appreciate everyone who supports the show," Erin added, "but Helen doesn't owe anyone anything."

Since Erin and Ben's hit series Home Town premiered on HGTV in 2017, the couple has been on the fast track to fame. Erin told PEOPLE in December that protecting her family will always be her top priority.

"We say no to a lot of opportunities," Erin said.

"For 18 years we get to be an influence in her life," she added of her daughter. "I want those years to be really good and happy and healthy, because we can never get them back. No matter how great an opportunity or amount of money, nothing is worth missing out on memories together with Helen."