NASA astronauts Doug Hurley and Bob Behnken entered the International Space Station at 1:22 p.m. Sunday.

The hatch was opened at 1:02 p.m. Sunday.

SpaceX’s astronaut-riding Dragon capsule docked with the International Space Station at 10:16 a.m. Sunday, about 19 hours after a historic liftoff from Florida.

Hurley and Behnken reported the capsule performed beautifully en route to the space station. The gleaming white capsule was easily visible from the station before it docked, its nose cone open exposing its docking hook, as the two spacecraft zoomed above the Atlantic, then Africa, then Asia.

It's the first time a privately built and owned spacecraft carried a crew to the orbiting lab.

In case of a problem, the astronauts slipped back into their pressurized launch suits for the docking. The three space station residents trained cameras on the capsule for flight controllers at SpaceX headquarters in Hawthorne, California, as well as NASA’s Johnson Space Center in Houston.

SpaceX launched the Dragon from Kennedy Space Center on Saturday afternoon, the first astronaut launch to orbit from the U.S. in nearly a decade. Thousands jammed surrounding beaches, bridges and towns to watch as Elon Musk’s company ended a nine-year launch drought for NASA in spectacular fashion.

SpaceX and NASA officials were holding off on any celebrations until after Sunday’s docking — and possibly not until the two astronauts are back on Earth sometime this summer.

In a show-and-tell earlier Sunday morning, the astronauts gave a quick tour of the Dragon’s sparkling clean insides, quite spacious for a capsule. They said the liftoff was pretty bumpy and dynamic, nothing the simulators could have mimicked.

In this photo provided by NASA, a SpaceX Falcon 9 rocket carrying the company's Crew Dragon spacecraft is launched from Launch Complex 39A.

Credit: Bill Ingalls

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Credit: Bill Ingalls

The blue-sequined dinosaur accompanying them — a toy of their sons named Tremor — was also in good shape, Behnken assured viewers. Tremor was going to join Earthy, a plush globe delivered on last year’s test flight of a crew-less crew Dragon. Behnken said both toys would return to Earth with them at mission’s end.

NASA has yet to decide how long Hurley and Behnken will spend at the space station, somewhere between one to four months. While they’re there, the Dragon test pilots will join the one U.S. and two Russian space station residents, doing experiments and possibly spacewalks to install fresh station batteries.

The rocket ship built by Musk’s SpaceX company thundered away from Earth on Saturday, ushering in a new era in commercial space travel and putting the United States back in the business of launching astronauts into orbit from home soil for the first time in nearly a decade.

Hurley and Behnken rode skyward aboard a white-and-black, bullet-shaped Dragon capsule on top of a Falcon 9 rocket, lifting off at 3:22 p.m. Saturday from the same launch pad used to send Apollo crews to the moon a half-century ago. Minutes later, they slipped safely into orbit.

“Let's light this candle,” Hurley said just before ignition, borrowing the historic words used by Alan Shepard on America's first human spaceflight, in 1961.

A SpaceX Falcon 9, with NASA astronauts Doug Hurley and Bob Behnken in the Dragon crew capsule, lifts off from Pad 39-A at the Kennedy Space Center.

Credit: John Raoux

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Credit: John Raoux

The flight had been delayed three days because of stormy weather in Florida.

The mission unfolded amid the gloom of the coronavirus outbreak, which has killed more than 100,000 Americans, and racial unrest across the U.S. over the death of George Floyd, a handcuffed black man, at the hands of Minneapolis police. NASA officials and others held out hope the flight would would be a morale-booster.

The mission unfolded amid the gloom of the coronavirus outbreak, which has killed more than 100,000 Americans, and racial unrest across the U.S. over the death of George Floyd, a handcuffed black man, at the hands of Minneapolis police. NASA officials and others held out hope the flight would would be a morale-booster.

“Maybe there’s an opportunity here for America to maybe pause and look up and see a bright, shining moment of hope at what the future looks like, that the United States of America can do extraordinary things even in difficult times,” NASA Administrator Jim Bridenstine said before launch.

NASA astronauts Douglas Hurley, left, and Bob Behnken walk out of the Neil A. Armstrong Operations and Checkout Building.

Credit: John Raoux

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Credit: John Raoux

With the on-time 3:22 p.m. liftoff, SpaceX, founded by Musk, the Tesla electric car visionary, became the first private company to launch people into orbit, a feat achieved previously by only three governments: the U.S., Russia and China.

The flight also ended a nine-year launch drought for NASA, the longest such hiatus in its history. Ever since it retired the space shuttle in 2011, NASA has relied on Russian spaceships launched from Kazakhstan to take U.S. astronauts to and from the space station.

In the intervening years, NASA outsourced the job of designing and building its next generation of spaceships to SpaceX and Boeing, awarding them $7 billion in contracts in a public-private partnership aimed at driving down costs and spurring innovation. Boeing’s spaceship, the Starliner capsule, is not expected to fly astronauts until early 2021.

In this photo provided by NASA, a SpaceX Falcon 9 rocket carrying the company's Crew Dragon spacecraft is seen in this false-color infrared exposure as it is launched on NASA's SpaceX Demo-2 mission to the International Space Station.

Credit: Bill Ingalls

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Credit: Bill Ingalls

Musk said earlier in the week the project is aimed at “reigniting the dream of space and getting people fired up about the future.”

Ultimately, NASA hopes to rely in part on its commercial partners as it works to send astronauts back to the moon in the next few years, and on to Mars in the 2030s.

Before setting out for the launch pad in a gull-wing Tesla SUV — another Musk product — Behnken pantomimed a hug to his 6-year-old son, Theo, and said: “Are you going to listen to Mommy and make her life easy?” Hurley blew kisses to his 10-year-old son and wife.

Inside Kennedy Space Center, attendance was strictly limited because of the coronavirus, and the small crowd of a few thousand was a shadow of what it would have been without the threat of COVID-19. President Donald Trump and Vice President Mike Pence flew in for the event for the second time in four days.

By NASA’s count, more than 3 million viewers tuned in online.

Despite NASA’s insistence that the public stay safe by staying home, spectators gathered along beaches and roads hours in advance.

Among them was Neil Wight, a machinist from Buffalo, New York, who staked out a view of the launch pad from a park in Titusville.

The SpaceX Falcon 9, with Dragon crew capsule on top of the rocket, sits on Launch Pad 39-A on Friday. Officials hope to launch at 3:22 p.m. Saturday in Cape Canaveral, Florida.

Credit: David J. Phillip

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Credit: David J. Phillip

“It’s pretty historically significant in my book, and a lot of other people’s books. With everything that’s going on in this country right now, it’s important that we do things extraordinary in life,” Wight said. “We’ve been bombarded with doom and gloom for the last six, eight weeks, whatever it is, and this is awesome. It brings a lot of people together.”

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The astronauts were kept in quasi-quarantine for more than two months before liftoff. The SpaceX technicians who helped them get into their spacesuits wore masks and gloves that made them look like black-clad ninjas. And at the launch center, the SpaceX controllers were seated far apart.

Hurley, a 53-year-old retired Marine, and Behnken, 49, an Air Force colonel, are veterans of two space shuttle flights each. Hurley piloted the space shuttle on the last launch of astronauts from Kennedy, on July 8, 2011.

In keeping with Musk’s penchant for futuristic flash, the astronauts wore angular white uniforms with black trim. Instead of the usual multitude of dials, knobs and switches, the Dragon capsule has three large touchscreens.

SpaceX astronauts Doug Hurley, left, and Bob Behnken will attempt to launch Saturday from Florida.
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SpaceX has been launching cargo capsules to the space station since 2012. In preparation for the flight, SpaceX sent up a Dragon capsule with only a test dummy aboard last year, and it docked smoothly at the orbiting outpost on autopilot, then returned to Earth in a splashdown.

During the Mercury, Gemini, Apollo and shuttle programs, NASA relied on aerospace contractors to build spacecraft according to the agency’s designs. NASA owned and operated the ships.

Under the new, 21st-century partnership, aerospace companies design, build, own and operate the spaceships, and NASA is essentially a paying customer on a list that could eventually include non-government researchers, artists and tourists. (Tom Cruise has already expressed interest.)

“What Elon Musk has done for the American space program is he has brought vision and inspiration that we hadn’t had” since the shuttle’s retirement in 2011, Bridenstine said on the eve of launch. He called the SpaceX chief “brilliant” and said Musk has “absolutely delivered” for NASA.

Weather threatened to delay the SpaceX launch again Saturday in Florida.

Credit: Charlie Riedel

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Credit: Charlie Riedel

The mission is technically considered by SpaceX and NASA to be a test flight. The next SpaceX voyage to the space station, set for the end of August, will have a full, four-person crew: three Americans and one Japanese.

The first human flight was originally targeted for about 2015. But NASA’s commercial crew program encountered bureaucratic delays and technical setbacks.

A SpaceX capsule exploded on the test stand last year. Boeing’s first Starliner capsule ended up in the wrong orbit during a crew-less test flight in December and was nearly destroyed at the mission’s end. Both companies had trouble with such things as the landing parachutes.