On September 17, 1849, Harriet Tubman and her brothers, Ben and Henry, escaped from slavery for the first time. 
Shortly after fleeing, Ben and Henry turned around and returned to the plantation. Harriet wasn’t prepared for the arduous journey on her own so she turned back with them. 

The US post office has released two stamps featuring Tubman.

Harriet Tubman (1820-1913)
Released by USPS on February 1, 1978
No designer listed

Harriet Tubman
Released June 29, 1995
Designer: Mark Hess

Tubman escaped a second time. later in October, this time successfully on her own. She would make the journey back 10 times to bring slaves north to freedom. 
Harriet Tubman: Life, Liberty and Legacy | National Museum of African American History and Culture (si.edu)