Númenórean ships first sail to Middle-earth
Event Type: General
Age: 2nd Age - Pre-Rings
Date: April 1, 0600
Vëantur, the Captain of the King's Ships, first achieves the voyage from Númenor back to Middle-earth during the reign of Tar-Elendil:
The first ships of the Númenóreans appear off the coasts.
The Lord of the Rings, Appendix B, The Tale of Years: The Second Age
Thus it was that because of the Ban of the Valar the voyages of the Dúnedain in those days went ever eastward and not westward, from the darkness of the North to the heats of the South, and beyond the South to the Nether Darkness; and they came even into the inner seas, and sailed about Middle-earth and glimpsed from their high prows the Gates of Morning in the East. And the Dúnedain came at times to the shores of the Great Lands, and they took pity on the forsaken world of Middle-earth; and the Lords of Númenor set foot again upon the western shores in the Dark Years of Men, and none yet dared to withstand them.
The Silmarillion, Akallabêth
When six hundred years had passed from the beginning of the Second Age Vëantur, Captain of King's Ships under Tar-Elendil, first achieved the voyage to Middle-earth. He brought his ship Entulessë (which signifies 'Return') into Mithlond on the spring winds blowing from the west; and he returned in the autumn of the following year. Thereafter seafaring became the chief enterprise for daring and hardihood among the men of Númenor; and Aldarion son of Meneldur, whose wife was Vëantur's daughter, formed the Guild of Venturers, in which were joined all the tried mariners of Númenor....
Unfinished Tales, Part 2, Ch 1, A Description of the Island of Númenor
Elena Tiriel 19Feb04, 8Nov05, 6Dec09