1769 transit of Venus observed from Tahiti in the context of "Transit of Venus"

Several waves of European seafarers sailed the edges of Australia. Dutch navigators were the first Europeans known to have explored and mapped the Australian coastline. The first documented encounter was that of Dutch navigator Willem Janszoon, in 1606. Dutch seafarers also visited the west and north coasts of the continent, as did French explorers.

The most famous expedition was that of Royal Navy Lieutenant (later Captain) James Cook, 164 years after Janszoon's sighting. After an assignment to make observations of the 1769 Transit of Venus, Cook followed Admiralty instructions to explore the south Pacific for the reported Terra Australis and on 19 April 1770 sighted the south-eastern coast of Australia and became the first recorded European to explore the eastern coastline. Explorers by land and sea continued to survey the continent for some years after settlement.

The first voyage of James Cook was a combined Royal Navy and Royal Society expedition to the south Pacific Ocean aboard HMS Endeavour, from 1768 to 1771. The aims were to observe the 1769 transit of Venus from Tahiti and to seek evidence of the postulated Terra Australis Incognita or "undiscovered southern land". It was the first of three voyages of which James Cook was the commander.

The voyage was commissioned by King George III and commanded by James Cook, promoted from master to lieutenant so that he could take command of Endeavour. Cook had good skills in cartography and mathematics. Departing from Plymouth Dockyard in August 1768, the expedition crossed the Atlantic, rounded Cape Horn and reached Tahiti in April 1769, before the expected transit on 3 June. After the observation, Cook stopped at the nearby islands of Huahine, Borabora and Raiatea to claim them for Great Britain before sailing into the largely uncharted ocean to the south and west. In October, the expedition reached New Zealand; Cook was only the second European to visit there, following the first voyage of Abel Tasman 127 years earlier. Cook and his crew spent the following six months charting the New Zealand coast, before resuming their voyage westward across open sea. In April 1770 they became the first known Europeans to reach the east coast of Australia, making landfall near present-day Point Hicks, and then proceeding north to Botany Bay.