ὧς ὁ μὲν ἔνθ᾽ ἠρᾶτο πολύτλας δῖος Ὀδυσσεύς,
κούρην δὲ προτὶ ἄστυ φέρεν μένος ἡμιόνοιιν.
ἡ δ᾽ ὅτε δὴ οὗ πατρὸς ἀγακλυτὰ δώμαθ᾽ ἵκανε,
στῆσεν ἄρ᾽ ἐν προθύροισι, κασίγνητοι δέ μιν ἀμφὶς
5ἵσταντ᾽ ἀθανάτοις ἐναλίγκιοι, οἵ ῥ᾽ ὑπ᾽ ἀπήνης
ἡμιόνους ἔλυον ἐσθῆτά τε ἔσφερον εἴσω.
So he prayed there, the much-enduring goodly Odysseus, while the two strong mules bore the maiden to the city. But when she had come to the glorious palace of her father, she halted the mules at the outer gate, and her brothers  thronged about her, men like the immortals, and loosed the mules from the wagon, and bore the raiment within;
I would translate, instead:
So he prayed there, the much-enduring goodly Odysseus, and the two strong mules began to bear the maiden to the city. And when she was coming to the palace of her father, she halted the mules at the outer gate, and her brothers began to throng about her, men like the immortals, and to loose the mules from the wagon and to bear the raiment within;
What do you think? Do you know any translation that translates the inchoative imperfect literally?