Yes, very good example.
"And knew her not till she had brought forth her firstborn son: and he called his name JESUS" (Mt. 1:25 AV)
A very good indication that Joseph "knew" Mary after Jesus arrived, and she was also thereby no longer a virgin, but she and Joseph participated in God's commandment to be fruitful and multiply, rather than live unnaturally as mutual celibates, thereby defeating God's commission for them. Nowhere does Scripture record that they were not to enjoy the bliss of normal and complete family interactions.
Furthermore, to respond to the Luke 2:41-51 passage, there is no indicatiion there that other children of Joseph and Mary were not with them. In fact, their attention might well have been distracted by needful attention to other siblings, two or more years younger than Jesus.
FWIW