Question:

Are there people on Earth related to Jesus?

Answer:

Believers are the brothers and sisters of the Lord Jesus (John 20:17; Hebrews 2:11).

In the physical, there is no one related to the Lord Jesus.  While Jesus had brothers and sisters, who were born of Mary, they did not share the same father.  Joseph was the father of all the children of Mary…except for Jesus (see Matthew 1:18).