The Robert Louis Stevenson novel subtitled 'Being Memoirs of the Adventures of David Balfour' is 'Kidnapped'.
The book's full title is much longer: 'Kidnapped: Being Memoirs of the Adventures of David Balfour in the Year 1751', followed by an extended description of his abduction, shipwreck, Highland journey and encounters with Jacobites. Stevenson presented the story as David's own memoir, giving the adventure a first-person immediacy.
'Kidnapped' was first published serially in the magazine 'Young Folks' from May to July 1886. It is historical fiction as well as an adventure novel, placing David Balfour amid the political tensions of eighteenth-century Scotland. The plot includes the real Appin murder and the historical figure Alan Breck Stewart, though David himself is fictional.
Readers sometimes confuse it with 'Catriona', the later sequel, whose longer subtitle concerns David Balfour's further adventures. 'Treasure Island' is also a Stevenson adventure novel, but it follows Jim Hawkins and has no David Balfour framing. The single canonical answer to this question is therefore 'Kidnapped'.