Last Spring we had the opportunity and privilege to keep some bear cubs warm on the Ridgeview Valley property while Maryland DNR replaced a battery in their Mother's collar, which DNR uses to track the State's bear population.  Maryland public television came out to film the event, and some asked questions about the mother taking back the cubs after humans had held them. We followed up with DNR a few weeks later and yes, the mother did accept her cubs back into the den, and it is in fact common for them to do so. 

See cute, cuddly cubs below: