Nasusicaa helped Odysseus but she didn't take him home with her. she told him to ask anything to direct him to the castle and talk to her mother.
Odysseus asked someone that he saw for directions to the castle but he didn't know that Athena took the form of a person who lives there and she says not to talk to any of the men because they don't like strangers so she put him in a must that made him invisible when he was walking to the castle.
When Odysseus got to the castle he asked the queen for help just like Nausicaa said to do he told her that he was on a island for 10 years with Calypso and that one day she let him go but he was on the sea for 17 days because Poseidon is mad at him. He asked for them to help and she said yes.
The Queen noticed that he was wearing their clothing and Odysseus said to them that Nausicaa helped him because he asked for her help.
her parents got upset at her because she didn't take him with her even though he asked for her help but Odysseus said to them that she was going o but he asked her not to because he didn't want to make a bad impression with the king and king even though that's not true he didn't tell the truth because Nausicaa helped him and he didn't want her to get in trouble.
The Queen says that they will help him go home will protection but she would like it if he stayed and married her daughter but the choice was his. he was going to be able to sleep in a bed and he hasn't slept in a bed for a long time.