The answer is
tooth / teeth
Came after your born
It will grow in time after baby is born
I'm painful when born
Babies are irritated when they started to grow because it is painful or itchy that is why they use teething toys
Its comes to show when happiness comes,
When smiling, it shows
But if you do not care I will hurt you soon
It will rot and needs to be extracted by a dentist when you do not brush your teeth or take care of it
Born two times
Milk teeth is first and Permanent teeth is second
I live no longer as you live
When you die, teeth will no longer have a function but they don't decay
Have two family in same home, we all are fair.
Upper jaw set and lower jaw set of teeth
No one get hurt if one die.
Other tooth will still function even one is extracted