Finding planets orbiting nearby stars has been a holy grail in astronomy for more than 400 years. We began working on this problem 30 years ago, at a time when there were no known extrasolar planets. In late 1995 we began routinely finding planets around the nearest stars. Since then we have found several hundred planets, including the first sub-saturn mass planet, the first neptune mass planet, the first terrestrial mass planet, the first multiple planet system, and the first transiting planet.