Galileo Galilei first observed the four largest moons of Jupiter - Io, Europa, Ganymede, and Callisto - in 1610 using a telescope. He recognized that they were orbiting Jupiter, which challenged the geocentric model at the time. The document then provides details on each of the Galilean moons, describing their sizes, compositions, potential for liquid water and life, and notable features. Galileo's discovery supported the Copernican model of the solar system and was a major breakthrough in astronomy.