The overall conclusion of the Tempest is a happy one. Prospero rewards Ariel for his services by giving him his freedom and releasing him to the elements.
We learn in the epilogue that the others are happy as well. Prospero tells the audience his magic powers are gone he is back to being a duke, and he has forgiven his enemies. He asks the audience to reward him by clapping, and by doing so that releases him from the illusory world of the island. Ferdinand and Mirando head back to Naples to get married.