Can Safari remember my tabs from last time? I want my previous browsing tabs to be restored when restarting Safari. I can do this in Firefox and Chrome. Is there a setting or an extension for this?

EDIT: So it turns out I was killing (word choice?) the Safari browser (and the Chrome browser for that matter). When I just Quit the browser my previous browsing is always maintained... So rather than get an extension or anything I believe the solution is just to Quit the browser?
After starting Safari, you can go to History -> Reopen All Windows from Last Session to have Safari reopen the windows and tabs that were open when you last used it. 

There's some additional info in this question: Is it possible to restart an application using AppleScript?, including a script (Chealion's answer) that can be modified to start Safari and call that menu automatically.