During his voyage on the HMS Beagle, Charles Darwin traveled to the Canary Islands, South America, the Galapagos Islands, Tahiti, New Zealand, Australia and the Southern tip of Africa. According to About.com, this journey took nearly five years and circumnavigated the globe.
Captained by Robert FitzRoy, the HMS Beagle left England in December, 1831. It travelled south to the Madeira and Canary Islands, though Darwin was unable to disembark at either due to sickness and quarantine. From there, the ship travelled further south to Cape Verde, then on to Brazil, Argentina, Uruguay, Chile, Peru, the Galapagos islands and several other island groups off continental South America. After South America, the Beagle crossed the Pacific Ocean to New Zealand and Australia, stopping at Tahiti in French Polynesia along the way. From Australia, the ship crossed the Indian Ocean to South Africa, passing Mauritius and Madagascar before landing near Cape Town. After this, the ship sailed back to South America, before heading back to England via Cape Verde, arriving in October 1836.