Elpenor was a member of Odysseus' crew, known for his role in the Ocean Saga. He was one of the soldiers in the Greek Army from the Kingdom of Ithaca. Early in the story, when the crew visits Circe's island, Elpenor gets drunk after Circe turns him back into a human. Unfortunately, in his intoxicated state, he stumbles off the roof of her palace and falls to his death. His death is mentioned in There Are Other Ways.

Though his role is somewhat brief, Elpenor is one of the few crew members who plays a more prominent part throughout the musical. His fate is tragic, and his death becomes a part of the larger narrative of loss and struggle that Odysseus and his crew face during their journey home.