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Garp is Luffy's grandfather, and Garp took care of Luffy when he was a child which means they "met" when Luffy was little. Because Garp did not appear in the first manga where Luffy meets Shanks it's possible Garp met his grandson afterwards, although he is fully aware of Shank's influence on Luffy which he condemns. They reunite in Water 7 after the Straw Hats take down Enies Lobby in episode 314.