If a grown up can take you to prison, then you will be able to visit. You will be able to draw, paint and play with your family member.
Your family member will be able to call you on the phone when they have credit. You also can write letters to each other and even draw pictures for them! If you have a computer, you can also email your family member.
This is not your fault. You have done nothing wrong. Your family member did something wrong but that does not mean that they are a bad person and it does not mean that they do not love you.
Your family member may have done something which is against the law. The law is a set of rules which we all must follow. She/he now has to spend some time in prison.