Darwin married his first cousin, Emma Wedgewood, in 1839. They had a total of 10 children.
Shortly after getting married, he published the book The Voyages of the Beagle. He spent much of his life developing his evolutionary theory, and had poor health due to overwork. He published a few books on geology and a few books on marine biology.
In 1859, after many years of work, Darwin published his most famous book, On the Origin of Species. It was very controversial at the time, being met with both praise and criticism from scientific and religious communities alike.
Darwin continued to study Natural science throughout his life. He died in 1882, and was buried next to John Herschel and Isaac Newton.