Odysseus is the main character, considering the book is about his journey back to Ithaca. Odysseus is the husband of Queen Penelope and the father of Prince Telemachus. He is a favorite of the goddess, Athena. She helps him along his journey after begging his father to help him.
Penelope is the wife of Odysseus and the mother of Telemachus. She, for twenty years, has been strong and has fought against the Suitors, who want her to marry someone else. They eventually get angry and there is a competition that is held. She stay stays strong for Telemachus and for her lost husband who has been missing for 20 odd years.
Odysseus and Penelope's son. Odysseus left when Telemachus was an infant. An obstacle for him is the suitors who are desperately courting his mother, but despite his courage and good heart, he initially lacks the poise and confidence to oppose them. He tries to be strong and grow in maturity for his father. Athena also helps him with his journey to find his father.
Calypso is a beautiful nymph. She holds Odysseus captive for seven years after he lands on her island-home of Ogygia. She eventually lets him go because of another helpful god, Hermes. Although she complain about the gods’ double standard which allows male deities to take human lovers but punishes goddesses who do the same, Odysseus is free.
Daughter of Zues. Mentor of Telemachus and his father Odysseus. At the beginning, Athena begs her father, Zues, to help Odysseus. She assists Odysseus and Telemachus with divine powers. She often appears in disguise as Mentor and other people to not be caught in her true identity.
Daughter of King Alcinous and Queen Arete of the Phaeacians. Nausicaa discovers Odysseus on the beach at Scheria and brings him to her parents’ palace. Her and two maids bathe, clothe and oil themselves before they notice him. After they do, they allow him to do the same.