We present results of a numerical renormalization-group study of the isotropic S=1 Heisenberg chain. The density-matrix renormalization-group techniques used allow us to calculate a variety of properties of the chain with unprecedented accuracy. The ground-state energy per site of the infinite chain is found to be ${\mathit{e}}_{0}$\ensuremath{\simeq}-1.401 484 038 971(4). Open-ended S=1 chains have effective S=1/2 spins on each end, with exponential decay of the local spin moment away from the ends, with decay length \ensuremath{\xi}\ensuremath{\simeq}6.03(1). The spin-spin correlation function also decays exponentially, and although the correlation length cannot be measured as accurately as the open-end decay length, it appears that the two lengths are identical. The string correlation function shows long-range order, with g(\ensuremath{\infty})\ensuremath{\simeq}-0.374 325 096(2). The excitation energy of the first excited state, a state with one magnon with momentum q=\ensuremath{\pi}, is the Haldane gap, which we find to be \ensuremath{\Delta}\ensuremath{\simeq}0.410 50(2). We find many low-lying excited states, including one- and two-magnon states, for several different chain lengths. The magnons have spin S=1, so the two-magnon states are singlets (S=0), triplets (S=1), and quintuplets (S=2). For magnons with momenta near \ensuremath{\pi}, the magnon-magnon interaction in the triplet channel is shown to be attractive, while in the singlet and quintuplet channels it is repulsive.