Restaurant at the End of the Universe - Douglas Adams

The Restaurant at the End of the Universe begins just as The Hitchhiker's Guide to the Galaxy ended. Arthur Dent, Ford Prefect, Trillian, and Zaphod Beeblebrox have just left the planet Magrathea when they are attacked by a Vogon ship. They find they are unable to use the Improbability Drive to escape, as Arthur has accidentally jammed the computer with a simple request for a cup of tea which proved a rather difficult problem. Luckily, an ancestor of Zaphod's, Zaphod Beeblebrox the Fourth saves them.