After his departure from Botany Bay he continued northwards. On 11 June a mishap occurred when the Endeavour ran aground on a shoal of the Great Barrier Reef, and then “nursed into a river mouth on 18 June 1770”. The ship was badly damaged and his voyage was delayed almost seven weeks while repairs were carried out on the beach (near the docks of modern Cooktown, Queensland, at the mouth of the Endeavour River). The voyage then continued, sailing through Torres Strait and on 22 August Cook landed on Possession Island, where he claimed the entire coastline that he had just explored as British territory. He returned to England via Batavia (modern Jakarta, Indonesia where many in his crew succumbed to malaria), the Cape of Good Hope, and arriving on the island of Saint Helena on 12 July 1771.
Cook’s journals were published upon his return, and he became something of a hero among the scientific community. Among the general public, however, the aristocratic botanist Joseph Banks was a greater hero. Banks even attempted to take command of Cook’s second voyage, but removed himself from the voyage before it began, and Johann Reinhold Forster and his son Georg Forster were taken on as scientists for the voyage. Cook’s son George was born five days before he left for his second voyage.
*All details taken from Wikipedia for educational purposes only.