The astronauts from the US Moon landing missions did indeed land on the surface of the Moon. During the Apollo program, a total of six crewed missions successfully landed astronauts on the Moon between 1969 and 1972. These missions were Apollo 11, 12, 14, 15, 16, and 17.
Apollo 11, in particular, is renowned for being the first crewed mission to land humans on the Moon. On July 20, 1969, astronauts Neil Armstrong and Edwin "Buzz" Aldrin became the first two humans to set foot on the lunar surface during this historic mission. Armstrong famously described the event as "one small step for [a] man, one giant leap for mankind."
The subsequent Apollo missions also involved landing on the Moon. The astronauts conducted various activities during their stays on the lunar surface, including deploying scientific instruments, collecting rock and soil samples, conducting experiments, taking photographs, and more.
After their lunar surface activities were completed, the astronauts launched from the Moon's surface using the Lunar Module ascent stage and rendezvoused with the Command Module in lunar orbit. From there, they returned to Earth.
The evidence supporting the Moon landings is extensive and includes photographs, videos, samples of lunar soil and rocks brought back to Earth, data collected from experiments placed on the Moon's surface, and independent verification from other nations and organizations. The Moon landings represent one of humanity's greatest achievements in space exploration.