Let the five numbers be \( x_1, x_2, x_3, x_4, x_5 \).
The average of these five numbers is 21, so the sum of these five numbers is:
\[
\frac{x_1 + x_2 + x_3 + x_4 + x_5}{5} = 21 \quad \Rightarrow \quad x_1 + x_2 + x_3 + x_4 + x_5 = 105
\]
When one number is excluded, the average of the remaining four numbers is 19, so their sum is:
\[
\frac{x_1 + x_2 + x_3 + x_4}{4} = 19 \quad \Rightarrow \quad x_1 + x_2 + x_3 + x_4 = 76
\]
The excluded number is the difference between the sum of the five numbers and the sum of the four numbers:
\[
x_5 = 105 - 76 = 29
\]