Chiro is a white-skinned, red-cheeked little Human. He is the son of Tiana Shinhan and Joey (owned by someone else), the grandson of Tien Shinhan, Chiaotzu, and Yamcha, the nephew of Cheese, and the twin brother of Hiro.
Tien - He's his maternal grandfather, even though he never met him until his own death, he respected him very much.
Chiaotzu - Like with Tien, even though he didn't know him until his own death, he respected Chiro very much.
Yamcha - He's his paternal grandfather, even though he never met him until his own death, he respected him very much.
Tiana - She's the one who carried him and Hiro for nine months and gave birth to them. She watched over them and protected them from the dangers that earth had to throw at them, but couldn't save them from Tao, which she promised to kill for her loved one's deaths.
Joey - He's his father, the man who raised him since the day he was born. Along with Hiro, Joey was murdered by Tao.
Hiro - Chiro's twin brother, who, along with their father, was murdered by Tao.
Along with Hiro and their father, Joey, he was murdered by Tao in front of Tiana. The bodies were left there.