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.
British astronaut Tim Peake was pictured saying a moving goodbye to his two sons as he boarded a bus to the rocket which will send him in to space.
Thomas, six, and Oliver, four, pressed their hands to the glass as they saw their father in the flesh for the last time in six months.
Earlier, as the family spoke together, a tearful Oliver had been heard saying: "I want to go with Daddy"
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.