Crowds turned out to welcome the historic vessel back into the town shortly after midday.

The ship managed to squeeze into the small quay area despite only have one engine working.

Endeavour is soon to be the start of a new BBC television series documenting life on board the ship, in which Cook reached Australia.

Captain Chris Blake: "Car with flat tyre"

Brilliant sunshine greeted and cheering crowds welcomed the ship into port.

The vessel is a copy of the one used by Captain Cook when he sailed to Australia and New Zealand in the 1760s.

The concessions to the modern age are its kitchen, navigation aids and engines.

There was a small doubt about its arrival in the port because it had to be navigated using just one of these engines.

Captain Chris Blake said it was like driving a car with a flat tyre.

Public welcome

But he said the reception from everyone in Boston was terrific: "We came here six years ago and I thought we got a good reception then but this is wonderful.

"Each time we come here we get an awesome welcome, as big as we get anywhere and this is just a small place."

The Endeavour will stay in Boston for the next ten days, and people will be able to go on board from Saturday.