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If it is coming up in ODIN mode, you should be able to restart it by pressing and holding the power button until it shuts off, and then press and hold it again until it turns on. By default, it should then boot into Android. But if it doesn't, you may have to re-flash the phone. Since it is in odin mode, you can do this manually with Odin, but there is a bit of a learning curve that goes with that, or you can go to Samsung.com and download their software, called KIES. Just download that software, connect the phone and go to the tools menu and then re-initialize.
You may be able to accomplish the same by getting into recovery mode and doing a wipe/reset. To do that, press and hold the down volume when starting the phone - if you do get into recovery, you can navigate the menu with the volume buttons and then select with the power button... go to wipe/factory reset.