They may have been centuries apart but Captain James Cook's legendary ship, Endeavour, and its modern-day replica undoubtedly share a common spirit of adventure and discovery.

It is 234 years since the original vessel set sail for the unchartered waters of Australia on a dangerous epic of a voyage that would ultimately change the course of history.

And tomorrow (FRI), after months spent negotiating some of the world's most treacherous waters, the crew of the 21st-century HM Bark Endeavour will enjoy the kind of homecoming reception the region has not seen in years.

Thousands of people will line the streets of Whitby, North Yorkshire - the fishing port where the original 368-tonne Endeavour was built - to witness the spectacular return of the £10m replica vessel.

More than £5m was ploughed into the local economy during Endeavour's last visit in 1997 - and this time not even World Cup fever will prevent a staggering influx of people into the tiny town which has long been bracing itself for the big day.

Whitby tourist information centre reports that hotels and guest houses are already packed for the weekend and staff have been taking an average of 200 calls a day from holidaymakers and day-trippers enquiring about the ship's visit.

Spokesperson Janet Deacon said: "Clearly at the moment demand is greatest for this coming weekend and immediately afterwards. We would expect it to quieten down a little before the schools break up in mid-July.

"Then we expect it to get very busy again during the school holidays and of course around the time when Endeavour leaves, on August 13."

Jubilant publicans have also been allowed to open for an extra hour on every weekend during the ship's seven-week stay.

The local council will be providing 1,000 parking spaces - three times as many as normal - and shuttle bus services will be running between car parks and the town centre every 15 minutes.

Endeavour will fire her guns as she passes Scarborough at about noon tomorrow, before the moment many have waited for occurs tomorrow at 1pm.

A huge flotilla of pleasure craft will guide Endeavour into Whitby Harbour and borough harbour master Bill Estill appealed for boat owners planning to join the procession to steer well clear of the giant vessel.

Once docked, a civic party will welcome the ship's 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 yesterday morning and a rapturous, emotional welcome is now just hours away.

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