StarBench is a project focused on benchmarking and validating different star-formation and stellar feedback codes. In this first StarBench paper we perform a comparison study of the D-type expansion of an HII region. The aim of this work is to understand the differences observed between the twelve participating numerical codes against the various analytical expressions examining the D-type phase of HII region expansion. To do this, we propose two well-defined tests which are tackled by 1D and 3D grid- and SPH- based codes. The first test examines the `early phase' D-type scenario during which the mechanical pressure driving the expansion is significantly larger than the thermal pressure of the neutral medium. The second test examines the `late phase' D-type scenario during which the system relaxes to pressure equilibrium with the external medium. Although they are mutually in excellent agreement, all twelve participating codes follow a modified expansion law that deviates significantly from the classical Spitzer solution in both scenarios. We present a semi-empirical formula combining the two different solutions appropriate to both early and late phases that agrees with high-resolution simulations to $\lesssim2\%$. This formula provides a much better benchmark solution for code validation than the Spitzer solution. The present comparison has validated the participating codes and through this project we provide a dataset for calibrating the treatment of ionizing radiation hydrodynamics codes. ; Comment: 20 pages, 12 Figures, 4 Tables. Accepted for publication in MNRAS. Comments are welcome. Participation in future StarBench tests is also welcome