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He / she just need to conquer a Yellow Turban city (those orange flag city with the word YT on it). However, I think not all the YT city has the Han Emperor's kinsmen.

Once you conquered the YT city, it will show in the report how many kinsmen that you have saved. Alternatively, you can also check for them at "Item ---> Quest" to see if you have any of the kinsmen after you conquered the YT city.