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Diesel-Electric submarines had been in use for years before WWI; there were many commissioned boats on both sides of the war before it even started, so there is no one particular submarine used in WWI. However, the one boat that arguably had the most impact at the beginning of WWI was the German submarine U-20, which was responsible for sinking the British passenger liner RMS Lusitania. This single submarine attack had repercussions throughout the war, causing policy shifts in Germany considering submarine warfare, and which affected submarine warfare in general forever.
The first submarine was called the Turtle or American Turtle. It was a one man submarine and powered like a bicycle. It was designed to attach explosive devices to the hulls of British ships. All such attempts failed.
The H.L. Hunley was the first successful submarine attack in the US Civil War. Created to help the Southern cause, it was privately owned and built for the profits it could obtain for its owners for sinking Union vessels. It began in February of 1864 in the Charleston Harbor. The Hunley successfully sank the Union ship, Housatonic. The explosion however, damaged the Hunley and it sank with the eight man crew all lost.
Techically, that would be the U.S. Navy's first submarine, USS S-1 (SS-105) , built by John Phillip Holland. Though the first submarine that was used in combat, David Bushnell's Turtle (Revolutionary War), the U.S. wasn't in fact a country at that time.The Confederate submarine H.L. Hunley was also not technically an American submarine, effectively being used by the Confederate Army (manned by Confederate sailors), but it was never a commissioned vessel in any navy.
Yes, this was the submarine's first trip.