What is the name of the game about Greek/Roman Mythology and Gods?

There's a game about Greek/Roman mythology and gods...your character is a young man who's just been released out of the care of a centaur...you get to travel around and solve puzzles and things...at one point, you can enter into the Underworld...you can go to an oracle...i think the title has "heroes" in it...does anyone know what it is called?