The first Avenger comic was one where Loki tricked the Incredible Hulk into a damaging rampage, The closest people was Rick Jones and his brigade who tried to contact (via radio signal) the Fantastic four (which honestly wouldn’t have been great against the all powerful Hulk.
Loki redirected this distress signal to Thor but unexpectedly Iron Man, Ant-Man and the Wasp
They found out of Loki trickery of the Hulk and everyone else so they joined together to defeat the sinister powers of the evil (and also puny!) Loki. The Avenger were born!
The original members were Hulk, Iron Man, Thor, Ant-Man and The Wasp but more members joined some famous ones being the ionic Captain America, The skilled Hawkeye and the two mutant siblings Scarlet Witch and Quicksilver.
Eventually the world needed more Avengers such as Luke Cage, Iron Fist, Spiderman, Wolverine, Doctor strange, Spider-man, Sentry, Wonder man, Vision, Ares and loads, loads more! Loads more teams of Avengers were created such as the Young Avengers, West coast Avengers, Spec Op Avengers and (in the middle of the Huge Civil war in the Marvel universe) the secret Avengers!
The Avenger’s main motto is “And there came a Day… where Earth’s Mightiest Heroes found themselves united against a common threat. On that Day, the Avengers were born-to fight the foes no single Super Hero could withstand!”