She was a Greek princess, daughter of King Pelias. She was rescued by Hercules from Hades.
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Alcestis.
Alcestis, for Admetos.
Queen Alcestis; who had agreed to die in place of her husband Admetus. Also Theseus; at the same time as the Cerberus adventure.
For the dead, he established the law of judging the ghosts of the dead. For Heracles, in retrieving Cerberus from the Underworld and allowed him to take Theseus and Alcestis back to the earth with him. The deities of the Underworld, such as the Furies and the Dream gods, he was master of.
This might be a take on the legend or myth of Damon and Pythias. Pythias could have been a woman. I always thought they were two inseparable friends who may have been fellow soldiers, knights, adventurers. One agreed to take the death sentence for the other, and the King dropped the charges and let them go. Such things only happen in stories. Usually it is the man who does the daredevil stuff for the Lady in distress, but this is a switch. You did not mention movies, so I don"t think this is a movie plot.