Relief

noun

1. The removal of stress or discomfort.

   "I sighed with relief when I found out that my daughter hadn't got lost, but was waiting for me at home."

2. The feeling associated with the removal of stress or discomfort.
3. Release from a post or duty, as when replaced by another.
4. The person who takes over a shift for another.

   "Officer Schmidt can finally go home because his relief has arrived."

5. Aid or assistance offered in time of need.