During the Clone Wars, Yoda began to hear the voice of the long-dead Jedi Master Qui-Gon Jinn. He decided that the voice was real, and let the Force guide him to the swamp world of Dagobah, whose purity made it strong with the Force.

Qui-Gon spoke to Yoda on Dagobah and led him to a cave that was strong with the dark side of the Force. Inside it, the Jedi Grandmaster experienced a vision of Darth Sidious’s victory.

Yoda now understood that the dark side would triumph, and he must find another way to defeat the Sith. Qui-Gon explained that he had been tasked with guiding Yoda along this new path, teaching him to retain his consciousness after death and commune with the living.

After Order 66 and the declaration of the First Galactic Empire, Yoda returned to Dagobah, living simply amid its many creatures. While in exile, he learned the lessons Qui-Gon taught him, meditated on the Force, and waited for the arrival of a new apprentice, one who might one day restore the Jedi Order.

Luke Skywalker, Anakin’s secret son, emerged from obscurity on Tatooine and learned the basics of the Force from Obi-Wan Kenobi. After Obi-Wan’s death, the Jedi’s spirit guided him to Dagobah. There, Obi-Wan promised, Luke would learn from the Jedi Master Yoda.

Luke made his way to Dagobah, but his starfighter crashed into a lake. His quest wasn’t exactly getting off to the start he’d had in mind. A morose Luke gathered his supplies and made his way ashore with R2-D2, who barely escaped being eaten by a dragonsnake.

A strange little green creature visited Luke and R2-D2 in their makeshift camp. Luke tried to remain patient as the apparently simple-minded creature wreaked havoc, and was relieved when the new arrival said he knew of Yoda and would take Luke to him.

Luke ate stew in the creature’s hut, but kept asking when he’d meet the Jedi Master, and finally lost his temper. Hearing Luke’s anger, the creature looked away and said he could not teach the boy – he had no patience. When Obi-Wan’s voice answered, Luke realized he’d already met Yoda – and failed his teacher’s first test.

Obi-Wan convinced Yoda to reconsider and agree to train Luke. The Jedi Master pushed Luke relentlessly, working to help him strengthen his connection with the Force. The regimen was physically and mentally exhausting, with Luke struggling to unlearn what he had learned.

Yoda took Luke to the same cave where he’d had his vision of Sidious’s triumph. There, Luke dueled a manifestation of Darth Vader. He beheaded his enemy, only to have Vader’s mask crack open and reveal Luke’s own face.

Luke continued to learn the ways of the Force, but was held back by distractions and doubt. And he’d a vision of his own, one that gnawed at him. He’d seen his friends trapped in a city in the clouds, suffering and in pain. Yoda told him it was the future he saw.

To shake Luke out of his negativity, Yoda demonstrated the power of the Force, freeing the young Jedi’s starfighter from the depths of the lake. Luke watched in astonishment as his wizened teacher flew the craft over the water and set it down on the shore. When he muttered that he didn’t believe it, Yoda nodded sagely. “That is why you fail,” he said.

Unable to shake the vision of his friends in peril, Luke decided to cut his training short and rush to their aid. In doing so, he ignored Yoda’s grave warning that to do so would destroy all for which they’d fought and suffered. He promised to return, then flew away from Dagobah. A fateful encounter with Darth Vader awaited him.

Luke returned to Dagobah as promised, but found Yoda near death. The ancient Jedi said Luke no longer required training – but warned that to become a Jedi, he must confront Vader. In response to Luke’s gentle but insistent questioning, Yoda confirmed that Vader was indeed Luke’s father, and revealed that there was another Skywalker.

Yoda then died and vanished, his physical form dissolving into the Force. He had learned Qui-Gon’s lessons well during his long years of solitude on Dagobah.