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I'm pretty sure that the name you are looking for is Eumaeus.
The Wikipedia entry on this character is pretty good. You may want to check it out. The entry includes, for example, the statements:
In Homer's "Odyssey", Eumaeus is the first mortal that Odysseus meets after his return to Ithaca. ...
Eumaeus also welcomes Odysseus's son, Telemachus, when he returns from his voyage to Pylos and Sparta. During the slaughter of the suitors, Eumaeus assists Telemachus and Odysseus as well.
During Odysseus's absence, Eumaeus acted as father to Telemachus. ...
it wat the Phaeacians that helped send him home on there "magically swift ships"
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