The answer is: Ulysses returning to Ithaca.
With the favor of the Phaeacians, Odysseus is rowed back to Ithaca as he is sleeping. After waking up, he is disguised by Athena as a beggar so that he can get back home. Once there, he is recognized only by his faithful dog, Argos, and eventually plots the death of the suitors wooing his wife, Penelope.