For simplicity, let's stick to a binary system A-B and qualitatively construct free energy versus composition plots for the system.
A "classic" eutectic occurs when A and B are completely miscible in the liquid state and completely immiscible in the solid state.
Qualitatively, if you plot free energy versus composition, you get a U-shaped curve for the liquid because the lowest free energy occurs when A and B are mixed.
The corresponding curve for the solid state is an inverted U-shape because the lowest free energy occurs in the unmixed state. Forget the curved part for now; the minimum free energy plot for the solid state is a straight line joining the ends of the inverted U. The value of free energy is a "law of mixtures" weighted average of the free energies of pure solid A and pure solid B.
The relative positions of the U-curve and straight line depend on the temperature. At higher temperatures, the liquid state is the more stable, the free energy is lower, so the the U-curve is below the straight line. Conversely, at lower temperatures where the system is solid, the straight line is below the U-curve.
It is now easy to see that there is only one temperature (and one composition) at which the straight line is an exact tangent to the U-curve. At that unique point, the free energy of solid and liquid are the same, so A, B and liquid are at equilibrium. That is your eutectic point: one temperature, one composition.