I had to look at my WIP to answer your question. Before looking, I would have said I start with action-oriented description, and that tends to be true, but I like to introduce readers right away to either the setting, a character, or the current problem. Here are some examples:
The first line of the novel, setting the scene:
Like a lost soul desperate for liberation from hell, the shipwreck begged for my attention in the blue abyss by reaching out with shards of frayed wood and loosely floating debris.
The first few lines of the second chapter, introducing a character for the purposes of overcoming a problem (buying a new ship from an easily-persuaded man):
“I'm asking forty,” Liam Draper began, standing on the pier beside his caravel. He was a desperate man. Fatigue settled in the wrinkles around his eyes, and the stressed tone of his voice indicated the ship was a constant irritation he'd rather be rid of.
Oftentimes, I start a new scene by indicating the passage of time (some of my books cover many years of events). One of my chapters is set a full season after the last, so it starts with:
While northern Arrayis froze over, moody skies blanketed the wildlands in shadow.
I try to always start scenes to immerse readers in a location, predicament, or conversation between well-developed or adequately introduced characters. Whenever I read, I hate scenes that jump right into things and use description later because then I have to overwrite the things my imagination created with accurate description, so I avoid this in my own books. In some cases this isn't necessary because the environment or all involved have already been introduced, in which case I'll start with action/dialogue with supportive description (body language, movements, etc.).