Odysseus gets home at last and Athena tells him he is indeed home. Then she proceeds to disguise Odysseus as an old beggar so he can surprise the suitors.
Athena sends Odysseus to the swineherds house and then sends Telemachus there as well. Telemachus finally meets his father and is one of the only ones to know his true identity.
The Death of Antinous
Odysseus is entering the town with Eumaeus who doesn't know he's Odysseus. He see's his old dog, Argos who is old and disregarded. After he see his master one more time, Argos dies because of old age and bad care.
The Reunion of Odysseus and Penelope
Penelope sets up a contest to pick a suitor to be her new husband. The disguised Odysseus wins the contest easily.
Odysseus makes an extremely impressive shot and shots the leader of the suitors through the neck. Antinous immediately dropped dead and the killing began.
Penelope is very skeptical of Odysseus and tests him by implying you could move their bed. Odysseus immediately catches the trick and tells her it really is him.