When you get off a ship and go on land, you debark. The passengers on the Titanic were hoping to debark in New York.
If you've ever spent a long stretch out at sea, you know the feeling when you debark and feel wobbly on your feet as you wait to get your land legs. You can also use this verb for getting off a plane or a spacecraft: "When the astronauts debark, they'll be greeted by fans." Debark, from the French débarquer, is a synonym for the longer disembark.