When did Odysseus see Laertes?

Odysseus saw his father throughout his life, and before he left for Troy. After he came back, he saw his father shortly after killing all the suitors and cleaning up his home.

Laertes joined Odysseus in battle against the suitors' families, throwing the first spear and killing Eupeithes, father of Antinous, as the spear pierced his helmet and stuck through his head.