How did Percy, Annabeth, and Grover leave the underworld in The Lightning Thief?

Percy, Annabeth, and Grover use Percy's three pearls to escape from the underworld.
Percy, unfortunately, only has three pearls. If he uses them to save himself, Annabeth, and Grover, he won't have one left to save his mother. Both Annabeth and Grover try to persuade Percy to leave them behind so he can have a pearl for his mother. Percy refuses because he has decided he will come back and rescue his mother later.
Percy, Annabeth, and Grover break their pearls as the skeleton army is attacking them. The pearls turn into very strong bubbles that form a protective circle around each child. In these bubbles, the three children are carried back up to the earth, breaking the surface of Santa Monica Bay.

Percy, Annabeth, and Grover use Percy's three pearls to escape from Hades and the underworld.
Percy, unfortunately, only has three pearls. If he uses them to save himself, Annabeth, and Grover, he won't have one left to save his mother. Both Annabeth and Grover try to persuade Percy to leave them behind so he can have a pearl for his mother. Percy refuses because he has decided he will come back and save his mother later.
Percy, Annabeth, and Grover break their pearls as the skeleton army is attacking them. The pearls turn into very strong bubbles that form a protective circle around each child. In these bubbles, the three children are carried back up to the earth, breaking the surface of Santa Monica Bay.