Thousands of people are on the streets of Whitby this afternoon as the modern day-replica of the Endeavour made a majestic return to the harbour.

Captain James Cook's legendary Whitby-built 368-tonne ship set sail for the uncharted waters of Australia in 1768 for an epic voyage which changed the course of history.

Today, the 21st-century HM Bark Endeavour enjoyed a rapturous reception as it sailed into Whitby harbour just after 1pm, heralded by cannon fire and flanked by an armada of small boats.

Despite a bitter World Cup disappointment, the North Yorkshire fishing port was buzzing with excitement as the full-sized £10m replica passed between the two piers.

"I have never seen Whitby so crowded," said an onlooker. "There's just an incredible atmosphere. It's a massive event for the town."

The ship will stay in Whitby for seven weeks, during which time shuttle bus services will run between car parks and the town centre every 15 minutes.

Later this afternoon, when the Australian-ship has docked, a civic party will welcome the captain, Chris Blake, and his crew ashore.

Endeavour set sail from Freemantle, Western Australia, in February, taking in Cape Horn and Rio de Janeiro as part of her round-the-world voyage. She passed Dover on Wednesday and fired her guns as she passed Scarborough yesterday.

The crew includes 39-year-old Jon Preston, an ancestor of Captain Cook, who has family in Wolsingham, County Durham, and Gosforth, Newcastle.