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On 12 April 1961, Russian cosmonaut Yuri Gagarin became the first human to travel into space when he launched into orbit on the Vostok 3KA-3 spacecraft (Vostok 1).
Rockets can get you going much faster. The first spacecraft to make the run was the Soviet Luna 1 probe. It completed a flyby in 1959. Luna 1 wasn't trying to get into orbit. It was there to whiz past the Moon and take a few pictures as it went. It completed the journey in only 36 hours, traveling at a speed of 10,500 kilometers per hour.