ROAD BACK HOME- Once he is left alone, he floats to an Island where he lives for several years. He then gets a boat, and sails home, eating something to let him sleep on the way there.
ATONEMENT- Odysseus gets back and meets his son. Then, he speaks to Athena who turns him into a beggar so that he can speak to his wife without getting caught by the suitors. He goes up to the castle and sees how runned down it is, and sees his poor dog who has been abandoned outside. He then speaks to Penelope and finds out that she has been loyal to him.
RESOLUTION- Odysseus, disguised as a beggar, goes to the challenged and completes it. Once the challenge is complete he turns back into himself. He then proceeds to kill all the suitors in the room, and has everyone clean the room before Penelope can see it. He goes out to see his wife with his son.