On the Cylon ship D'anna holds the BSG crew hostage until the 4 cylons are released.
Adama, Roslin and D'anna use a raptor to dock BSG, D'anna says that the final 4 are free to join the other Cylon's if they choose.
Tori is the only one to go back with her as they leave BSG.
Roslin has given the orders to Adama that if the cylons don't back down then he is to destroy the cylon ship... with her and the others on it.
D'anna stars killing the crew aboard the cylon ship until the other 3 cylons join her.
Tigh tells Adama he is one of the final 5, Adama doesn't take the news well and has a break-down (Of sorts), Lee finds his father distraught and takes control of the Tigh situation, Lee calls D'anna and tells her she now has 10 minutes to release his crew or he will fire Tigh out of an airlock!
Tigh then gives up the other cylons Chief and Sanders in order to force D'anna's hand further. All 3 are put in an airlock together, Starbuck is inspecting a viper ship that seems to hold a secret and realises it is ommiting a homing beacon to Earth. Lee gives the four cylons amnesty and invites D'anna on ship to share the news of Earth. D'anna releases the BSG crew aboard the cylon ship and the cylons and Humans decide to find earth together.
Roslin and Adama are reunited, Roslin tells Lee that he will have to be president again soon. She gives the order to find earth. The fleet celebrate as they reach Earth.
At the end cylons and humans step foot on Earth together!!! what a good episode! Very exciting.