Answer by taking a quote from the following article:

Samuel de Champlain (also known as "The Father of New France) (French: [samYel d@ Saple] born Samuel Champlain; on or before August 13, 1574 - December 25, 1635), "The Father of New France", was a French navigator, cartographer, draftsman, soldier, explorer, geographer, ethnologist, diplomat, and chronicler. He made from 21-29 trips across the Atlantic, and founded New France and Quebec City on July 3, 1608. He is important to Canadian history because he made the first accurate map of the coast and he helped found the settlements.

During the summer of 1609, Champlain attempted to form better relations with the local native tribes. He made alliances with the Wendat (called Huron by the French) and with the Algonquin, the Montagnais and the Etchemin, who lived in the area of the St. Lawrence River. These tribes demanded that Champlain help them in their war against the Iroquois, who lived farther south. Champlain set off with nine French soldiers and 300 natives to explore the Riviere des Iroquois (now known as the Richelieu River), and became the first European to map Lake Champlain. Having had no encounters with the Iroquois at this point many of the men headed back, leaving Champlain with only 2 Frenchmen and 60 natives.  On July 29, somewhere in the area near Ticonderoga and Crown Point, New York (historians are not sure which of these two places, but Fort Ticonderoga historians claim that it occurred near its site), Champlain and his party encountered a group of Iroquois. In a battle begun the next day, two hundred Iroquois advanced on Champlain's position, and one of his guides pointed out the three Iroquois chiefs. In his account of the battle, Champlain recounts firing his arquebus and killing two of them with a single shot, after which one of his men killed the third. The Iroquois turned and fled. This action set the tone for poor French-Iroquois relations for the rest of the century.  The Battle of Sorel occurred on June 19, 1610, with Samuel de Champlain supported by the Kingdom of France and his allies, the Wyandot people, Algonquin people and Innu people against the Mohawk people in New France at present-day Sorel-Tracy, Quebec. The forces of Champlain armed with the arquebus engaged and killed or captured nearly all of the Mohawks. The battle ended major hostilities with the Mohawks for twenty years.

Did he ever encounter the Iroquois?
Champlain and his party encountered a group of Iroquois. In a battle begun the next day, two hundred Iroquois advanced on Champlain's position,