In December 1840 David Livingstone left London for South Africa. After three months of sailing he arrived at Cape Town and made seven hundred miles to the missionary station Kurumara. Two years later he moved again to the north to form his own missionary station. In these parts he married Mary Moffat, daughter of a South African missionary, who would give him three children.

In June 1849, with his small family, Dr. Livingstone started in ox-wagon on his journey northwards. They moved across the great Kalahari Desert up to the river Zouga. The natives said that this river led to a large lake named Lake Ngani. The Livingstone's sailed down the beautiful river till they reached Lake Ngani. However, mosquitoes and tsetse fly obliged them to return to the headquarters.

In 1851, they started again to seek the river Zambesi that was known to exist somewhere in Central Africa. In the end of June Livingstone reached the Zambesi which proved to be far to the west of its situation on the Portuguese maps. Later, he had to send his family back to England as the journey was too difficult for a woman with small children.

In November 1858, Livingstone, accompanied by twenty-seven black Makalolos, left the town of Linyanti in the very center of Africa with the purpose of tracing the course of Zambesi River. David Livingstone witnessed heavy tropical rains, magnificent flowers and vibrant insect life. Later, they arrived in Loanda where Livingstone recovered his forces after the hard journey and constant fever.

In 1855, David Livingstone discovered "The Smoke That Thunders" or Mosi-oa-Tunia. Having become the first European to see that majestic waterfall, he renames the Victoria Falls after the English Queen. In 1856, he returned in Britain where he spent two years and wrote his book "Missionary travel". After sixteen years spent in Africa Dr. Livingstone, was received in England with great honors.

In 1858, David Livingstone left Britain in order to lead the Second Zambesi Expedition. Together with his companions he sailed up the river Shire and discovered Lake Shirwa. In 1861, they were joined by a new group of missionaries who had brought the long-expected new steamer from Zambesi, The Pioneer. Then, Dr. Livingstone sailed into Lake Nyasa. However, lack of funds coming from England impeded further explorations. In 1864, David Livingstone had to return in England.

In 1865, Dr. Livingstone started for his last expedition. Its main goal was to find the sources of Nile, and though he did not accomplish it, he continued to explore the unknown lakes and rivers of Africa. In 1871, as Livingstone had lost entirely his connection with the outside world, Henri M. Stanley, proprietor of New York Herald, came to Africa with a well-equipped caravan to find him alive or dead. "Dr. Livingstone, I presume", the greeting with which he addressed the famous explorer became later a legendary phrase. Stanley urged him tp return to England, but in vain. In March 1872, having furnished Livingstone with medicines and all necessities, Stanley left him.

Dr. David Livingstone died on 1 May 1873, in the age of 60 in Chief Chitambo's village at Chipundu.