§ Of the Rings of Power and the Third Age The Silmarillion

Upon the shores of the Gulf of Lhûn the Elves built their havens, and named them Mithlond; and there they held many ships, for the harbourage was good. From the Grey Havens the Eldar ever and anon set sail, fleeing from the darkness of the days of Earth; for by the mercy of the Valar the Firstborn could still follow the Straight Road and return, if they would, to their kindred in Eressëa and Valinor beyond the encircling seas.