Hercules and the Odyssey Experience

Hercules and the Odyssey Experience is an episode of Hercules: The Animated Series. It aired on February 19, 1999.

Summary
Upon visiting Odysseus's traveling museum, Hercules winds up out to sea with Odysseus's (Steven Weber) shy and awkward son Telemachus, and three spare ex-crew members of the Argo. The group encounter a number of threats, including the dangerous and beautiful Sirens, and Telemachus learns to be self confident in order to save his family.