Not sure exactly what you mean by "stuck".
Are you saying that every time it reboots it boots into the recovery?
If so, then:
- Pull the battery
- Reinsert the battery*
- Boot the phone by holding down Vol-Down+Home+Power*
When it asks you if you want to go into Download Mode, select Cancel (Vol-Down iirc)
The phone should boot into the regular ROM, albeit completely unconfigured, as you have already performed a factory reset (which wasn't needed btw).
If the Stock ROM won't boot you will have to flash the Stock ROM in Odin
*don't have the phone plugged in to a PC at this point or it will spontaneously reboot.
Thanks for responding! Yes you are correct that it boots in recovery. Home+Power+Vol Down brings me up to a Warning screen, says if i want to download a custom OS to hit vol up, if I want to cancel press Vol Down. I press vol down and it puts me back into recovery boot again.
If you are familiar with YemenRoot maybe I just screwed up doing that and can still continue with that to fix it? I ran the program, choose Tar.1 in Oden and hit start. Went back to the command prompt and "pressed any key" to continue. It went to 2). Rooting, but never went any farther. The phone automatically rebooted but into recovery mode. That was where I thought something went wrong and stopped.
EDIT: I went back again and pressed vol up to see where it would take me. It takes me back to the downloading screen like it showed in one of the steps for the root. I ran tar.1 and tar.2 and was able to get the phone usable again. No luck with the YemenRoot though

Tried going through to do it a second time and came up with the same issues. It just sits on (2) Installing root forever and the phone eventually reboots into Recovery again. Im not sure how to get Yemen to work correctly, and no one seems to respond in the yemenroot post that I found on here.