General:
* Landed
* Disembarked
* Came ashore
* Reached the shore
* Stepped onto land
More specific:
* Beached (for a boat)
* Docked (for a ship)
* Made landfall (for a ship or plane)
* Stranded (if the event was unexpected or unwelcome)
* Walked the plank (if the context is humorous or metaphorical)
Figurative:
* Went to shore
* Came to dry land
The best choice will depend on the specific situation and the desired tone.