Odysseus went to the Underworld to get advice for his journey home.
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The enchantess Circe.
Elpenor was encountered by Odysseus in the underworld.
Odysseus is still alive.
Because he is a living person and only the dead must stay in the Underworld. Also, he does not go into the Underworld, but speaks to it's ghosts.
he goes into hades or the underworld.