Whenever you first meet Sesshomaru in the 1st Season Jaken has been with Sesshomaru even before the series started. You do get to see a flashback Jaken has. He tells Rin about his first encounter with Lord Sesshomaru and why he is so loyal in Season 3 Episode 79: Jaken's Plan to Steal Tetsusaiga
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I am sorry i forgot but I know it is inuyasha the final act and I know the episode is close to 6 SPOILER ALERT: sessmaru meets his mother (a demon mom him and inuyasha have different mothers) she says she has a task from sessmaru and inuyasha's dad he must go to the underworld (I think the episode is called "Sesshomaru in the underworld") to strengthen his sword rin follows him and kohuku sango's little brother now rembers everything and wants to kill miruku but when they enter the underworld rin doesn't wake up like kuhuku (because he's already dead) kuhuku carries rin on his back soon rin stops breathing and gets colder then the underworld god kidnappers rin sesshomaru follows gets rin back and ends up stenghing up his sword but rin is still dead he gasps and picks her up in her arms and this sentice shocks me "Nothing could be worth rin's life!" sessmaru really said that but don't worry rin doesn't die at the end hope you enjoy!
Inuyasha The Final Act Episode 9
Sesshomaru meets Rin in the episode "The True Owner of the Great Sword." Rin finds Sesshomaru recovering in the woods, after he was almost killed by the Wind Scar.
Episode 80: "Sesshomaru and the Abducted Rin"
No. Sesshomaru loves Rin like a daughter. Sesshomaru has significant feelings for Kagura and that is shown in the final act in episode 1. (not gonna say what happens don't wanna spoil it for you) Ok fine, Kagura dies, there, I said it.
yes sesshomaru and rin will be in the new moon cave
when Inuyasha first uses the wind scar successfully on Sesshomaru, Sesshomaru is warped by tensaiga to a forest where he meets Rin for the first time.
yes. Sesshomaru hugged Rin in the manga after she died when they went to hell to strengthen Tensaiga. And Sesshomaru's mother brought Rin back to life, when she saw Sesshomaru was sad and even crying, well technically Jaken cried for him. but you get the point. since Sesshomaru already used Tensaiga on Rin. he couldn't bring her back. he even said what's the point of strengthening Tensaiga if it cost Rin her life. i know all you needed was a yes or a no. but i just wanted to to tell you why.