From Wikipedia

Journeys from the Centre of the Earth
Episode One

Risky Rocks

The study of the physical material of the Earth dates back at least to ancient Greece when Theophrastus (372-287 BC) wrote the work Peri Lithon (On Stones). In the Roman period, Pliny the Elder wrote in detail of the many minerals and metals then in practical use, and correctly noted the origin of amber.

James Hutton is often viewed as the first modern geologist. In 1785 he presented a paper entitled Theory of the Earth to the Royal Society of Edinburgh. In his paper, he explained his theory that the Earth must be much older than had previously been supposed in order to allow enough time for mountains to be eroded and for sediments to form new rocks at the bottom of the sea, which in turn were raised up to become dry land. Hutton published a two-volume version of his ideas in 1795.