The Flying Scotsman took to the North Yorkshire Moors Railway (NYMR) heritage line after a decade-long, £4.2m refit.
Its first of six daily services from Grosmont to Pickering started at 09:30 GMT with stops at Goathland, Newtondale and Levisham on route.
A total of 8,500 tickets were purchased for the sold-out locomotive service, which runs until 20 March.
Tickets were sold at £38 for an adult and £25 for a child for a full return journey between Grosmont and Pickering, a spokesperson for the NYMR said.
All 8,500 tickets went on sale on 26 October last year and were sold out by Christmas, they added.
NYMR declined to disclose how much money it had made from the sales, but said some of the funds would pay for the "upkeep" of its heritage line.
General Manager Chris Price said: "We're understandably incredibly excited about Flying Scotsman arriving and I'm sure that many others will be too, although we do urge anyone wanting to take photographs to do so from a safe distance and refrain from straying onto the railway itself.
"After recent events, British Transport Police has confirmed that if people are seen trespassing on the tracks, they risk being brought before the courts, a fine of £1,000 and a criminal record."
The engine, which retired from service in 1963, has been restored for the National Railway Museum (NRM).
It made its inaugural run last month when it travelled from London King's Cross to York before going on display at the NRM.
Thousands of rail enthusiasts flocked to see the locomotive on route with fans venturing on the tracks to catch a glimpse of the engine as it passed by. After a number of disruptions, the locomotive arrived into York an hour later than expected.

The 29-year-old Irishman is expected to formally sign for the Scottish Premiership club next week on his return from holiday.
Sammon has negotiated an early release from his contract with the English Championship club.
His deal is due to expire on 30 June, but Hearts need to register players for the Europa League 10 days before that.
Sammon, who had a previous spell in Scotland's top flight with Kilmarnock, spent last season on loan to Sheffield United in League One, scoring six times in 33 appearances.
Having switched to Derby for £1.2m from Wigan Athletic in 2012, he was also farmed out to Championship rivals Ipswich Town and Rotherham United after falling out of favour in the last two years and has not been offered a new deal.
Sammon had joined Wigan, then in England's top flight, in 2011 after they had paid Kilmarnock about £600,000 for his services in January 2011.
He had spent two and a half years at Rugby Park after arriving from Derry City and scored 25 goals in 75 games for the Ayrshire outfit.
Sammon, who had also been linked with Aberdeen this summer, has been capped nine times by Republic of Ireland but failed to make their squad for the Euro 2016 finals.
Hearts had signed Abiola Dauda in January to replace Osman Sow, who was sold to Chinese club Henan Jianye, but the Nigerian has returned to Vitesse Arnhem after scoring five times in 15 appearances during his loan spell.
One of the world's most famous locomotives has started its first series of passenger journeys.
[NEXT_CONCEPT]
Conor Sammon has agreed a three-year contract with Hearts as the striker prepares to leave Derby County.