Titan

On October 15th, 1997, the Cassini-Huygens probe was launched towards Saturn, thanks to which Saturn, its rings, Titan, and Enceladus were examined.

An excerpt from the article 17 facts about Titan
The probe reached Saturn on July 1st, 2004, and six months later, on January 14th, 2005, the Huygens lander landed on Titan's surface. Cassini, on the other hand, orbited Titan, collecting information from orbit.