Does the encounter between Beowulf and Grendel end with a heroic struggle?

Well based on what I remember from the story Beowulf had ended up killing Grendel baby wolves encounter was a lot more heroic and Grendel's was due to the fact that Grendel was evil and terrorizing everybody and they will have saved the town but if you have not noticed in the end of the book they will I'm pretty sure it was till 2 he started going through a phase of greed and he ended up deciding that it was finally his time for himself to die