The Lost Son of Zeus: His ReturnEpisode 4

Hercules, the son of Zeus and Hera, goes missing as a child and is swapped with the mortal Icaris by an envious follower. Eighteen years later, Hercules travels to Olympus to join the Divine Guards to save his beloved, far outperforming Icaris. Unaware of his true identity, Zeus's family, instigated by Icaris, cruelly suppress and exile him. Once the truth is revealed, Zeus's family desperately begs for forgiveness, while Icaris conspires with Hades for revenge.