InuYasha Episode 19: Go Home to Your Own Time, Kagome!
Episode 19 of 167 of InuYasha, aired March 12, 2001, 24 minutes. Available with English subtitles and dub where released.
Episode summary
After a badly beaten Inuyasha gets ahold of Tetsusaiga once more, Sesshomaru backs off. Convinced that Kagome doesn't belong in the past, Inuyasha takes her to the well, hugs her close, takes her shards, and pushes her back through, to the present time.