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An elderly version of Janeway, from a future where it took Voyager 23 years to get home, travels back in time to meet Voyager in the Delta Quadrant. After convincing the Voyager crew she isn't an alien imposter, Janeways present and future team up to take on the Borg, and eventually hijack a transwarp hub. Future Janeway then sacrifices herself to provide a distraction, so that Voyager can use the hub's technology to travel back to the Alpha Quadrant.
For a full summary of the episode, go here: http://memory-alpha.org/en/wiki/Endgame