In book 3
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The two have a bit of a conflict over Odysseus, but in the end Athena prevails and Odysseus makes it home. Poseidon hates Odysseus for blinding his son and has passed a curse over his head that is supposed to last for 10 years. Athena on the other hand is the patron "goddess of heroes," and she has a weak spot for Odysseus that causes her to help him along the way, and although she prefers to watch him in action she isn't above giving him some help when he needs it. This is exactly what happened when Poseidon caused Odysseus to be shipwrecked on his way home to Penelope.