You can write "the ship began its journey" as "the vessel embarked on its voyage." This maintains the original meaning while using different terminology. Alternatively, you could say, "the ship set sail on its journey."
His journey home began after the victory at Troy.
Juan ponce De Leon's journey began on 1513
The Origin of Species was not written on a ship. However, Charles Darwin started to write down his ideas of evolution a few years after he had come back from a journey with the HMS Beagle.
Missouri
We began our journey with the simplest of steps.
A sea voyage
voyage
Deadly, to terrible.
Voyage
To get on board a ship. It comes from the word "bark", a type of ship. It is also used when you get on an airplane. Figuratively, it means to start a journey or new project.
Missouri
A voyage is a long journey, particularly by ship.