Note, this version of the history is largely based on the Hitchhiker's Guide radio series, which differs slightly from the books (though some parts of this history are in-fact based on the books, and parts are of my own design). In the game's character sheets, those events not relevant to the game will be left vague, so that the players can assume whichever version of history that they are most familiar with.

The Five main characters (Arthur, Ford, Zaphod, Trillian, and Marvin) were first brought together aboard the Heart of Gold. Zaphod and Trillian had stolen the Heart of Gold when Zaphod was supposed to be giving a speech at its official launch. Marvin was the robot which came with the ship. Arthur and Ford were picked up by the infinite improbability drive while they were floating in space after being pushed out of the airlock of the Vogon constructor ship on which they had hitched a ride off of the Earth before it was demolished (the combination of events that led to their rescue was infinitely improbable).

Once united, they set off on the mission for which Zaphod had stolen the ship (at least as far as he knew), that being to find the ancient planet Magrathea. The residents of Magrathea had been in the business of building custom-made planets, including having built the Earth on a commision from the Mice, but had all gone into suspended animation because of a slump in the galactic economy (resulting from the massive cost of their services). When the five arrived, the Magratheans were just being reawakened to build a new Earth to replace the ones that the Vogons had destroyed, and the five were introduced to Slartibartfast (the coastline designer who won an award for his work on Norway) and two Mice (Benjy and Frankie) who wanted to avoid having to build the new Earth by instead buying Arthur's brain (and replacing it with a simple computer capable only of saying "What?" and "I don't understand." and "Where's the tea?").

Before the Mice can put their plan into action, though, the police arrive searching for Zaphod. In the shootout that follows, the five friends are blasted by an exploding dimensional gateway into the far future where they arrive at Milliways, the Restaurant at the End of the Universe (which caters to time-travellers interested in seeing this historic event). Marvin wasn't with them at the time, but he simply waits around on Magrathea (on which the restaurant is later built) for them being bored and depressed, and is thus several million years old. They leave dinner early by stealing a black ship, which they fail to be able to control, but whose autopilot leads it back to its time of origin. It turns out to be the stuntship of the band Disaster Area, and it is meant to crash into a sun as part of a concert. The friends are thus forced to escape in its escape capsules, which due to their emergency nature simply eject themselves to a random point in time and space.

Arthur and Ford take the first escape capsule, which takes them directly to the B Ark where game starts. Zaphod, Trillian, and Marvin take the second, which turns out to be broken. They are smart enough to ask Marvin for help fixing it, though, and thus not only get it working but are able to control where and when they land. They end up on Magrathea just a few moments after they originally left the Heart of Gold, and are thus able to steal it again before the police even arrive. In order to rejoin their friends, they then use the improbability drive to create another infinitely improbable situation where they are reunited, and the game is what results...