OSIRIS-REx arrived at asteroid Bennu yesterday! It will stay in orbit to do a complete survey of the asteroid. But even cooler, it will get so close to the surface it will touch Bennu briefly and use a puff of hydrogen to dislodge surface material, that it will then collect. After that, OSIRIS-REx heads back to Earth to deliver the sample!
Here is a really cool video on how this little orbiter got to Bennu (including a gravity assist from Earth), and detailing its mission: https://youtu.be/NYGHbl_esgw