The only object that humans have actually been
to (apart from the Earth, of course), is the moon.
They found many, many, interesting things telling
us about the moon's past - the number is too great
to list here (sorry about the details; as I said,
too many to list).
Humans have never been anywhere else in the
solar system, but our robotic probes have visited
every other planet (excluding Kuiper objects like
Pluto and Eris) and most of the major moons, at
least as fly-bys, as well as a handful of
asteroids and a couple of comets. Robot landers
have been to Venus, Mars, Titan, and I want to say
some of Jupiter's moons and maybe Mercury. Robot
probes have descended into the atmosphere of
Jupiter, but can't really land because Jupiter has
no solid surface. I don't recall if this has been
done to Saturn, too, yet, or not. Probes have also
tried to get close to the sun, but can't get too
close because of the heat.
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