British astronaut Tim Peake and two colleagues have been welcomed aboard the International Space Station after a six-hour journey from Kazakhstan.
No Brit has undertaken such a mission - or even left Earth - in more than two decades.
Mr Peake will be onboard the ISS for six months.
The Queen has sent a good luck message to Tim Peake after he arrived on the International Space Station.
The message, which was tweeted, said: "Prince Philip and I are pleased to transmit our best wishes to Major Timothy Peake as he joins the International Space Station in orbit.
"We hope that Major Peake's work on the Space Station will serve as an inspiration to a new generation of scientists and engineers.
"The thoughts and prayers of the whole country are with him and the crew, especially at this time of year.
"We join with his friends and family in wishing him a productive mission and a safe return to Earth."
The parents of British astronaut Tim Peake missed a phone call from their son made from the deck of the International Space Station.
British astronaut Tim Peake has tweeted his first picture of his view from the International Space Station (ISS).
British astronaut Tim Peake may have only been in space for three days, but he has already been busy.