***To come full circle*** could work. Here are several definitions and examples of the phrase:

> To return to the same situation or attitude you originally had. *I left publishing, tried teaching, and now I've come full circle back to publishing.*<sup>[[1][1]]</sup>



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> When something “comes full circle,” it completes a cycle, returns to its beginnings: *The novelist's vision of human life has come full circle—from optimism to pessimism and back to optimism again.*<sup> [[2][2]]</sup>

In the comments below, an idiom describing "returning to a starting point after going around in a full circle[,] especially in the context of unsuccessfully trying to find one's way in a maze" was requested.

I would suggest **Going around in circles** or **Walking in circles**. Examples:

> To move over and over on a circular path. *The model plane went around in circles until it ran out of fuel. The oxen went around in circles, pulling along a beam that was connected to the millstone.*<sup>[[3][3]]</sup>

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>To act in a confused and disoriented manner. *I've been going around in circles all day. The children have been going around in circles, waiting for you to arrive.*<sup>[[3][3]]</sup>

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>To keep going over the same ideas or repeating the same actions, often resulting in confusion, without reaching a satisfactory decision or conclusion. *We're just going round in circles discussing the problem. We need to consult someone else to get a new point of view. Fred's trying to find out what's happened but he's going round in circles. No one will tell him anything useful.*<sup>[[3][3]]</sup>

This expression is frequently used in the context of being lost. Upon realizing that one has returned to a location one has already visited, one might remark, "it looks like I've been walking in circles".

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**Citations**:

<sup>1</sup> [The Cambridge Dictionary of American Idioms © 2002][1]
  [1]: http://idioms.thefreedictionary.com/come+full+circle
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<sup>2</sup> [The American Heritage New Dictionary of Cultural Literacy, Third Edition][2] © 2005
  [2]: http://www.dictionary.com/browse/come-full-circle
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<sup>2</sup> [McGraw-Hill Dictionary of American Idioms and Phrasal Verbs][3] © 2005
  [3]: http://idioms.thefreedictionary.com/go+round+in+circles