How do Iphigenia and Orestes escape from Tauris in Iphigenia Among the Taurians?

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In Euripides's play Iphigenia Among the Taurians, the escape of Iphigenia and her brother Orestes from Tauris is a central plot point following their recognition of one another.12

After Orestes is captured and brought to the temple where Iphigenia serves as a priestess for Artemis, the siblings devise a plan to flee the region. Their escape is facilitated by the goddess Athena, who assists them in successfully departing Tauris while taking the sacred statue of Artemis with them to return to Athens.12