Captain Ross Mattson said the ship ran into a bit of a gale on the way over, which was "exciting for some, scary for others".

The local Aboriginal community held a Welcome to Country ceremony aboard the ship, with local artist Jackie Nannup presenting Mr Mattson with one of her artworks.

"The ship has sailed around the world twice, and a part of the process is connecting with the indigenous communities around the world, and now flies the Aboriginal and Torres Strait Islander flag from the ship," he said.

He said the ship had received a good response to the call for local volunteers, and the ports authority offered a free berth.

"The ship is a self-managed non-profit operation, so we need all the help we can get.

"I personally love regional ports, because the community gets together and saying how can we help."

Locals will have the chance to tour the replica ship docked at the wharf from 10am to 5pm until Thursday.

The ship is in Port Lincoln as part of its 13-month voyage around Australia.

The original Endeavour sailed into history as James Cook's vessel of discovery.

Endeavour is two ships in one - a museum vessel complete with artefacts in port, and a working ship with the artefacts stowed away at sea.

The ship is sailed by a professional crew of 16 and up to 40 paying voyage crew who have signed on to learn about 18th century seamanship.

The ship is presented as if Cook and his crew just walked off during their epic voyage when they crossed the Pacific, circumnavigated New Zealand and explored the east coast of Australia.

A meal has been prepared, set out and half-eaten on the mess deck, Joseph Banks' botanical specimens are spread out in the Great Cabin, a copy of astronomer Charles Green journal is open on his desk and the swinging cot in Cook's cabin is made ready for the captain's next slumber.

Up on deck you can see the three masts, the spars (ready to take as many as 28 sails), the 29km of ropes and 750 wooden blocks, all rigged as they were when they powered Cook's converted collier across the world's oceans.