His initial "adventures" takes a lot of the young Robinson Crusoe's passion out of him, so most of the relevant quotes come in the first two chapters. For example:
My father... designed me for the law; but I would be satisfied with nothing but going to sea.
Because of his older brother who was killed in action during the Franco-Spanish war, young Robinson wants to sail the ocean and seek adventure. His father, having lost two sons already, cautions him against it, but since they are a wealthy family, Robinson avoids learning a specific trade and becomes a practical dilettante.
He told me it was men of desperate fortunes on one hand, or of aspiring, superior fortunes on the other, who went abroad upon adventures... that these things were all either too far above me or too far below me.
(Defoe, Robinson Crusoe, eNotes eText)
Of course, this sort of speech only fuels Robinson's desire for adventure. He feels sympathy for his father, but his own desires are paramount, and so he jumps a ship heading for London. From this point, all events seem designed to keep him from sailing further, but he is stubborn, and continues to sail even through a shipwreck and slavery to pirates; his most famous shipwreck comes only after years of rising and falling fortunes. Similar quotes are often tinged with regret, as the older and wiser Robinson Crusoe looks back on his life and examines his choices with a more objective eye.