Odysseus is there, but it seems to be the swineherd who greets Telemachus as a father would his son.
Textual evidence:
"And as a loving father greets his own dear son, who comes in the tenth year from a distant land—his only son and well-beloved, for whose sake he has borne much sorrow— [20] even so did the goodly swineherd then clasp in his arms godlike Telemachus, and kiss him all over as one escaped from death; and with wailing he addressed him with winged words: “Thou art come, Telemachus, sweet light of my eyes. I thought I should never see thee more after thou hadst gone in thy ship to Pylos. "[25]