Calypso was a nymph, the daughter of the Titan Atlas. She lived on the island of Ogygia. After the last of Odysseus' men had perished at sea, Odysseus himself was washed ashore on Ogygia, where Calypso became enamored of him, taking him as her lover and promising him immortality if he would stay with her. Odysseus refused her offer, wishing to return home to Ithaca and to his wife, Penelope. But Calypso refused to let him leave, and held him prisoner for seven years. Finally Athena complained of Odysseus' plight to Zeus, and Zeus sent Hermes to Ogygia to order Calypso to set Odysseus free. Calypso complied reluctantly, allowing Odysseus to construct a small boat and set sail from the island.