Mufasa/Relationships

Sarabi
It can be assumed Mufasa loved Sarabi dearly, since the two did bare a cub, Simba. Sarabi was devastated over the death of her mate and thought their son had died too.

Kion
Mufasa cares deeply for his grandson, and is always willing to offer him support and advice, with his wise words always helping, Kion come up with a solution to any problem.

Even when Kion uses the Roar in anger, Mufasa is understanding, and prompts him to remember the true reason for his anger, showing that no matter what, he will always love his grandson.

Simba
Simba had a strong bond with his father Mufasa when he was a cub and looked up to his father in every way. But when Scar murdered Mufasa it broke his heart and soon he ran away in fear, thinking that it was his fault.

But when Simba was an adult it was his father's spiritual guidance that eventually convinced Simba years later to reclaim the throne from Scar.

In The Wisdom of Kongwe, when Simba and Kion consulted Mufasa after the revelation of Scar’s return, Mufasa reminds his son that he had previously defeated Scar, and would soon find out how to defeat him again.

Scar
Mufasa loved Scar and cared greatly for him but, unknown to him, Scar never felt the same for his brother, being instead was extremely jealous and envious of his position. When he was the leader of the Lion Guard and had the Roar of the Elders, Scar even plotted to overthrow him, only to lose both his position and power after using the latter for evil.

However, his evil brother was able to kill and betray him the second time around and became king afterwards, until his brother was able to convince his nephew, Simba, to reclaim the throne and succeeded in doing so thanks to him.

But now that Scar is back, Mufasa seems as determined as Simba and Kion are to defeat him, and believes they will.

Nala
Mufasa cared a lot about Nala. In The Lion King, when Simba and Nala were cubs, they got chased by the hyenas. Mufasa came in to save them. When he wanted to speak to Simba alone he asks Zazu to bring her home. Nala helped fight Scar after hearing that he was one who killed Mufasa.

Zazu
Zazu was a very good frined of Simba'a father Mufasa. When Simba was a cub Zazu would keep an eye on him for Mufasa. Zazu would also give Mufasa the Morning Report every morning. Zazu helped his pride fight against the hyenas after hearing that Scar killed his good friend.

Rafiki
Rafiki was a very good friend of Simba's father. When Simba was born, he held him up for the Pridelanders to see. Mufasa and Rafiki go back a long way. Rafiki helped fight the hyenas after hearing that Scar killed his good friend.