Jim Henson's The Storyteller: Greek Myths

Daedalus was the greatest craftsman in Greece. Unfortunately, his skill did not rub off on his son, Icarus. Jealousy and frustration force the pair into a life on the run. Cruel King Minos of Crete asks Daedalus to design a maze to imprison the creature known as the Minataur, then locks Daedalus and his son inside the labyrinth to make sure only he knows the secrets it hides.

Orpheus was the only mortal on whom Apollo had bestowed the gift of music. A few years after his adventures as one of Jason's Argonauts, Orpheus married Eurydice and settled down. Their happiness was short-lived though when Eurydice died from a snake bite. Heart-broken, Orpheus descended to the Underworld (the Land of the Dead) in a desperate attempt to try and fetch her back.

An Athenian storyteller and his dog fall into the underground labyrinth of Knossos. There he recounts the story of the Minotaur confined to the maze by King Minos ten centuries earlier. When the young hero Theseus comes of age, he begins walking the heroes path. Reclaiming his rightful place as the son of Athenian king Aegeus, Theseus insists on traveling to Crete to face the dreaded Minotaur.

Owing to the Oracle's prophesy, Perseus is born in darkness and captivity. He is given special weapons and armor by the gods to complete his task but still cannot escape the prophesy that he will one day kill his grandfather. With his mother Danaë, the young son of Zeus escapes death at sea and vows to bring back Medusa the Gorgon to stop the evil king Polydektes from marrying his mother.