What Word Am I?

I think about how others feel,
And so I feel that way, too.
My heart will ache
When I see someone in trouble.
I want to show kindness,
And help to those that can’t help themselves.
Sometimes I’m upset or sad,
But I cry only because I love you.
You’ll see me on Mommy’s face
When she bandages the scrape on your knee.
I am in the footprints
The Master left for you today.

Can you guess my name?