Short answers, pulled from the story.
Charles Robert Darwin was born on the 12th of February 1809 at The Mount, his family's home in Shrewsbury, Shropshire. He grew up in a lineage of prominent abolitionists and thinkers including his grandfather Erasmus Darwin and Josiah Wedgwood.
The five-year voyage on the HMS Beagle began on the 27th of December 1831 and ended on the 2nd of October 1836 when the ship anchored at Falmouth, Cornwall. During this time Charles Darwin investigated geology and natural history while suffering from seasickness and developing theories about species change and human origins.
Charles Darwin began developing his theory of natural selection in secret starting in mid-July 1837 when he wrote his B notebook. He realized that natural selection was analogous to artificial selection used by farmers and published his ideas in On the Origin of Species on the 22nd of November 1859.
Charles Darwin published The Descent of Man in 1871 to show that humans are animals with continuity of physical and mental attributes. He followed this with The Expression of the Emotions in Man and Animals in 1872 which discussed the evolution of human psychology and its continuity with animal behavior.
Charles Darwin died on the 19th of April 1882 at the age of 73 after suffering from angina pectoris. He was buried in Westminster Abbey on the 26th of April following a public and parliamentary petition that honored him close to John Herschel and Isaac Newton.