The above is completely correct, but I think there's more depth to the relationship as well. For instance, Huck does eventually run away from him, likely due to the beatings and other associated mistreatment...but there is an element of Huck that enjoys being in the woods with his father, so he doesn't have to be "sivilized" all the time.
It's kind of a relationship out of necessity; Huck may hate the way he is treated, and eventually fakes his own death to get away. This is not to mention that his father is ultimately killed for real, so we know he's a terrible person. There is, though, something about the escape from society that his father provides, and it seems like Huck wishes his father would be a decent human being.
Dave Becker
Sadly, Huck and Pap have very little in the way of feelings for one another....
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Huck has a mixture of fear and hate towards his father. Pap feels like Huck is his property, but he feels very little love for him. He feels entitled to mistreat him, and doesn't miss him after Huck leaves, until it comes to his attention that Huck has come into quite a bit of money.