Almost every episode of the original Star Trek opened with the same narration, spoken by William Shatner. “Space: the final frontier. These are the voyages of the starship Enterprise. Its five-year mission: to explore strange new worlds; to seek out new life and new civilizations; to boldly go where no man has gone before!”
The series began in 1966. Star Trek: The Next Generation kept the narration in 1987, spoken by Patrick Stewart. The “five-year mission” became a “continuing mission,” and the crew would now go “where no one has gone before.” The split infinitive “to boldly go” became widely known through the opening of the series.