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abstract: 'Minor planet 2002 VE$_{68}$ was identified as a quasi-satellite of Venus shortly after its discovery. At that time its data-arc span was only 24 days, now it is 2,947 days. Here we revisit the topic of the dynamical status of this remarkable object as well as look into its dynamical past and explore its future orbital evolution which is driven by close encounters with both the Earth-Moon system and Mercury. In our calculations we use a Hermite integration scheme, the most updated ephemerides and include the perturbations by the eight major planets, the Moon and the three largest asteroids. We confirm that 2002 VE$_{68}$ currently is a quasi-satellite of Venus and it has remained as such for at least 7,000 yr after a close fly-by with the Earth. Prior to that encounter the object may have already been co-orbital with Venus or moving in a classical, non-resonant Near-Earth Object (NEO) orbit. The object drifted into the quasi-satellite phase from an L$_4$ Trojan state. We also confirm that, at aphelion, dangerously close encounters with the Earth (under 0.002 AU, well inside the Hill sphere) are possible. We find that 2002 VE$_{68}$ will remain as a quasi-satellite of Venus for 