This is quite a frequently asked question. Some types of insurance follow the driver, while others are tied to a car and cover any driver, so there is no blanket answer. It all boils down to the coverage you have and the insurer’s policies.
Some insurers are more permissive when you lend a car to a family member. Others will ask that if someone who lives in your house, whether or not related to you, drives your car then he or she should be specifically named in the policy. The best approach is to re-read the terms in the policy contract and, if still in doubt, ask the insurance representative or consult with a lawyer.