When my grandad died, just after I was married, I heard him say, "Don't worry, you'll all be OK". I've always remembered it, and it gave me great comfort.
When my dad was ill in hospital, and I was staying at his house, I awoke in the middle of the night with the distinct feeling that my mum was holding me, stroking my hair, and saying, "Shush, shush". She'd passed away a couple of years previously. I wasn't scared, I felt warm and comforted, it seemed so real.
Sadly, my lovely dad has just passed away, and I long to hear his voice again.