The NASA/JPL Galileo spacecraft flew by the asteroid 243 Ida on August 28, 1993, en route to its final destination of Jupiter. A number of images and other sets of data have been sent back to Earth during the months since the flyby.
In an image sent to Earth in February 1994, a moon orbiting Ida was discovered and has since been named Dactyl.
The following are recent images of Ida and Dactyl sent back by the Galileo spacecraft:
We have a few other images from the JPL browse images:
You might find the JPL page on Ida here if it hasn't moved.