We investigate the growth of a passive lava lake in Halemaʻumaʻu crater during the December 2020 to May 2021 eruption of Kīlauea volcano, Hawaii. Fed by vents above their surfaces, the formation of passive lava lakes in topographic lows is an important process in the growth of basaltic volcanoes. We captured visible and thermal images during 17 helicopter overflights and applied structure-from-motion photogrammetry to create digital elevation models and orthomosaics of Halemaʻumaʻu. These data products allowed us to track eruptive activity and processes. The bulk time-averaged discharge rate (TADR) in December 2020 initially exceeded 100 m³ s^–1 but decreased to < 10 m³ s^–1 within seven days. By February 2021, TADR was < 2 m³ s^–1 and continued to decrease until the eruption ended in May 2021. A total volume of 40.6 ± 0.5 × 10⁶ m³ of lava filled Halemaʻumaʻu to a depth of 225 m. As TADR decreased, the lake progressively developed an immobile, solidified crust, beginning with surfaces farthest from the vent. This immobile surface rose endogenously, whereas exogenous surface rise occurred near the vent. Eruptive activity at a vent ended when the level of the lake surface exceeded that of the vent, which we attribute to the effects of lava sitting above the vent on ascending magma. Regular helicopter overflights, combined with field observations and the extensive monitoring network at Kīlauea, generated an unprecedented density of observations that provide insights into the emplacement of passive lava lakes and how these eruptions wane and end.