This is known as the Discrete Log Problem and the site lists several algorithms to solve it.
The discrete logarithm problem is to find the exponent in the expression $$Base^{Exponent} = Power \pmod{Modulus}$$
In your case, we have
$$20^e \equiv 24 \pmod{29}$$
One of the algorithms listed (learn and try some of the others) on the site (overkill for this small problem) is Pohlig-Hellman. We will use the Discrete logarithm calculator by Dario Alpern and it immediately finds
$$e = 5$$
As an aside, you can see a more detailed and worked example here: Use Pohlig-Hellman to solve discrete log.
For the message, we have
- $04 \equiv P^5 \pmod{29} \implies P = 06 = G$
- $19 \equiv P^5 \pmod{29} \implies P = 14 = O$
- $19 \equiv P^5 \pmod{29} \implies P = 14 = O$
- $11 \equiv P^5 \pmod{29} \implies P = 03 = D$
- $04 \equiv P^5 \pmod{29} \implies P = 06 = G$
- $24 \equiv P^5 \pmod{29} \implies P = 20 = U$
- $09 \equiv P^5 \pmod{29} \implies P = 04 = E$
- $15 \equiv P^5 \pmod{29} \implies P = 18 = S$
- $15 \equiv P^5 \pmod{29} \implies P = 18 = S$