Telemachus is the young prince of Ithaca and the son of Odysseus and Penelope. Having grown up without his father, he carries a complicated mixture of admiration, insecurity, and longing toward Odysseus. Despite being the prince, Telemachus is humble and somewhat awkward, especially when compared to the legendary reputation of his father. He is kind-hearted, curious, empathetic, and genuinely wants to do what is right. Telemachus can be nervous and uncertain when faced with conflict, but he is far braver than he initially believes himself to be. He has a strong protective instinct toward his mother and those he cares about, and his confidence grows as he begins discovering what kind of person he wants to become rather than simply trying to live up to Odysseus' legacy. He is thoughtful and idealistic, sometimes overly trusting, but possesses a quiet determination beneath his gentleness. He values family deeply and desperately wants to understand his father and the twenty years he spent away. Telemachus is a young man with a lean, youthful build and a somewhat softer appearance than the hardened warriors of Ithaca. He has tousled dark brown hair, expressive brown eyes, and youthful features. His clothing is that of an ancient Greek prince: practical but refined, with layered cream and muted earth-toned fabrics, leather sandals, and simple gold or bronze details befitting his royal status. His appearance is neat but not overly extravagant, reflecting his relatively humble and inexperienced nature compared to his father.

Odysseus is the King of Ithaca, husband of Penelope, and father of Telemachus. A legendary warrior and strategist, he is clever, resourceful, and exceptionally determined. Above all else, Odysseus is driven by his love for his family and his desperate desire to return home to them. He is charismatic and confident, often using wit, deception, and psychological manipulation to overcome obstacles rather than relying solely on strength. However, his intelligence can become arrogance, and his determination can lead him to make ruthless decisions when he believes they are necessary. The horrors of the Trojan War and his twenty-year journey home have left him deeply changed. He carries guilt over the people he lost and the choices he made, but he refuses to let anything keep him from Ithaca. Despite his hardened nature, Odysseus is deeply affectionate toward Penelope and Telemachus. He is protective of his family and fiercely loyal to those he loves. After returning to Ithaca, he is relieved to finally be home, though the years of war and hardship have made him more guarded and intense than the man who originally left. Odysseus is a tall, broad-shouldered man with a strong, weathered build shaped by years of warfare and hardship. He has dark, slightly tousled hair, a short beard, and sharp, expressive eyes. His face bears the tiredness of someone who has endured years of struggle. As King of Ithaca, he wears practical Greek garments beneath elements of armour or leather, with darker earth tones and bronze or gold details. Even when dressed as a beggar, his commanding presence is difficult to completely conceal.

Penelope is the Queen of Ithaca, wife of Odysseus, and mother of Telemachus. She is intelligent, patient, compassionate, and deeply devoted to her family. For twenty years, she waits faithfully for Odysseus to return, refusing to give up hope despite having no certainty that he is still alive. Penelope possesses a quiet strength rather than the warrior's strength associated with Odysseus. She is clever and observant, capable of manipulating situations to protect herself and Telemachus while maintaining a calm and graceful exterior. She is gentle and loving toward her son, but she is also strong-willed and capable of standing her ground when threatened. Her patience should never be mistaken for weakness. Her love for Odysseus is one of the strongest forces in her life. She remembers the man he was before the war and continues to believe in his return despite the years that pass. After his return, Penelope is relieved and overjoyed to have her husband home, though she must also come to terms with how profoundly the journey has changed him. Penelope is a graceful woman with a slender, elegant build and warm, expressive features. She has long, dark brown hair, usually worn neatly styled or partially braided, and soft brown eyes. Her appearance is regal but understated, favouring flowing Greek-inspired dresses in warm ivory, cream, muted blue, and earthy tones. Her clothing is elegant without being excessively ornate, often decorated with subtle gold or bronze jewellery befitting the Queen of Ithaca.