On his journey to Ithaca, Odysseus and his crew had to pass by the Sirens, Charybdis, and Scylla. He followed Circe's advice and avoided Charybdis.
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After being imprisoned for many years by the Gods in Calypso's island, Odysseus finally gets to leave. However, Calypso is enraged because she'll be alone.
Penelope is wary of Odysseus, so she provides a test to prove that he is who he truly says he is. Odysseus shares their secret, how he made their bed.