When Odysseus was finally able to return home after 20 years, Telemachus was initially hesitant to believe it was him. However, after Odysseus revealed a secret only the two of them knew, Telemachus was overjoyed and they embraced each other.
Together, Telemachus and Odysseus devised a plan to retake their home from the suitors who had been vying for Penelope's hand in marriage and taking advantage of their hospitality in Odysseus' absence. Telemachus helped his father kill the suitors and restore order to their household.
In Homer's Odyssey, Telemachus is portrayed as a loyal and courageous young man who is devoted to his family. He is also shown to be resourceful and intelligent, and plays a key role in Odysseus' homecoming and the defeat of the suitors.