Answer
Charles Darwin participated in Second Voyage Of HMS Beagle between 1831 and 1836.
The second voyage of HMS Beagle, from 27 December 1831 to 2 October 1836, was the second survey expedition of HMS Beagle, under captain Robert FitzRoy, who had taken over command of the ship on its first voyage after the previous captain, Pringle Stokes, committed suicide.