As Chris has pointed out there is a slight difference between in meaning between,
Allez vous embrasser! = Go and kiss each other!
Allez, embrassez-vous! = Go on, have a kiss!
Very subtle , I admit...
I am returning to your qestion because I believe I didn't completely answer it in my first try.
You can say, "Allez vous embrasser!" -- Go kiss each other! It has a different connotation from "Allez, embrassez-vous!" -- Go on, kiss each other.
A native speaker's input would be appreciated here, though.
-- Chris (not a native speaker).
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