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When Penelope and Odysseus embrace, it's described in terms of a swimmer who comes crawling back onto the warm shore, "in joy, in joy, leaving the abyss behind."
Made somehow even more poignant in that you would have every reason expect the shipwrecked sailor of the simile would be Odysseus, whose fate has literally been this, but the shipwrecked sailor it's talking about? Penelope.
And Odysseus and Telemachus being united as well for the first time since Telemachus was a baby. At first he is in complete disbelief, but then the two embrace each other tight and weep openly.