Most parents want to 'shelter' their children 'from' pain and sadness. [=to prevent their children from experiencing pain and sadness]
They 'found/took shelter' in a cave during the storm. [=they went into a cave to get out of the storm]
They were accused of 'sheltering' a criminal. [=giving a criminal a place to hide]
(..) Kill him. Kill them both. What is this place? Peter's home. It's six years since we left together. We'll find food and shelter here. No beggars! Tell the mistress Robin of Locksley's at her door. Her ladyship's not here. Is the child Marian in? (..)1991 Robin Hood: Prince of Thieves