The battle took place in the city of Antietam.
After the Battle of the Second Bull Run, Lee changed his strategy and invaded the Maryland, giving the start to the offensive campaign that led to the Battle of Antietam.
Maryland
Yes, Robert E. Lee invaded Maryland during the American Civil War in September 1862 as part of his campaign known as the Maryland Campaign. This invasion culminated in the Battle of Antietam on September 17, which was one of the bloodiest battles in American history. Lee's objective was to gain a strategic advantage and potentially sway public opinion in the North towards peace, but the campaign ultimately ended in a tactical stalemate.
Gettysburg
Meade tuned back Lee's invasion of the North. Lee never invaded the North again.
On June 13, 1863, when Lee's Second Corps shattered the Union Milroy's division at Winchester, breaking through the Federal front and advanced towards the Maryland and Pennsylvania, followed by the First and Third Corps, which within June 24 crossed over the Potomac at Williamsport marching through the Maryland directed to Pennsylvania.
Meade saved the Union from Lee's invasion and Lee never invaded he North again.
The North was fairly untouched by the war. Lee invaded Maryland in 1862 and Pennsylvania in 1863. There were some incursions into Kentucky, and a few cavalry raids into Indiana and Ohio, and there was an attack by saboteurs in Vermont (of all places) but nowhere near the number of actions in the South.
When Lee retreated back to Virginian, he never again invaded the North.
Battle of Antietam
Lee invaded Maryland twice, Pennsylvania once. The first invasion of Maryland led up to the Battle of Sharpsburg/ Antietam...and a year later he forded the Potomac at Drainsville and proceeded up what is now Rt 15 in route to Pennsylvania, culminating in the battle of Gettysburg
Orlando