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The saying "between a rock and a hard place" originated from the Greek mythological episode of Scylla and Charybdis. It refers to being stuck between two equally difficult or dangerous situations with no clear way to escape.
scylla
Scylla and Charybdis are both Greek monsters. They both killed travelers. Scylla ate travelers and Charybdis drowned them by making whirlpools.
He chooses Scylla over charybdis because if they go to charybdis they would all die, but if they go to Scylla only six would die because Scylla has six heads and six mouths to eat with.
Odysseus chooses to pass by Scylla because, Scylla will only kill 6 men, one for each head. Charybdis will sink the ship, killing everyone. Circe has also advised Odysseus to do choose Scylla. Further, Charybdis is a visible danger, and Odysseus uses Charybdis to encourage his men to pass by quickly. Finally, passing by Scylla and Charybdis is given as the only way for Odysseus to get home from where he is.
Circe
charybdis a swirling whirlpool
He plugged the sirens ears and avoided the Charybdis
Charybdis was one of two guardians of an ocean. Scylla was her sister, and the other guardian.
scylla
Scylla is not a country, but a mythical sea monster with 6 heads. Opposite it is Charybdis
Odysseus chose Scylla, and lost 6 men to her arms.