How did he escape? Did he come back? I've read only first two parts of the poem.
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The Ancient Mariner is narrating the poem, although the poet occasionally chimes in. Did he come back? No, he never died; the other 200 men in the crew died, but he didn't, instead he fell asleep............ woke up to the spirits of his dead mates and was carried back to his native land by the ship itself.
The Rime of the Ancient mariner