Lang first encountered the Avengers as an electronics
technician in the employ of their patron, Tony Stark (alias Avengers
founder Iron Man). Later, Lang stole Henry Pym's Ant-Man equipment to
save his daughter Cassie's life--and when Pym saw the good use Lang
made of his gear, he allowed Lang to keep it as the new Ant-Man, with
his blessing.
Through his friendship with Pym and employment by Stark,
Lang became a frequent ally of the Avengers, regarded as an unofficial
member of sorts; however, he declined invitations to join their ranks,
trying to remain a part-time superhero in light of his
responsibilities as a single parent.
After losing custody of his
daughter to his ex-wife, Lang finally decided to join the Avengers
officially, despite his ongoing feud with recent Avengers recruit Jack
of Hearts. That feud came to a tragic end when the emotionally and
physically unstable Jack helped rescue Scott's daughter from a
child-killer and then, on an impulse, decided to blow himself and the
killer to bits.
Scott Lang continued to serve with the Avengers
thereafter until he and several other members were slain by their
insane teammate Scarlet Witch.
Having secretly experimented with her
father's equipment for years, Lang's now-teenage daughter Cassie has
developed size-changing powers of her own and joined the Young
Avengers as the masked heroine Stature.