A SpaceX Crew Dragon safely delivered four private astronauts—not affiliated with any space agency—to the International Space Station this past Saturday. With the Axiom crew now onboard, the first all-private mission to the ISS can get down to business.

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SpaceX capsule Endeavor reached the ISS at 8:20 a.m. EDT on Saturday, April 9, following a nearly 21-hour journey. The crew of the Ax-1 mission—Michael López-Alegría, Larry Connor, Eytan Stibbe, and Mark Pathy—launched atop a Falcon 9 rocket on Thursday from Kennedy Space Center in Florida. The ISS is currently orbiting at a height of 260 miles (418 km) above Earth.

The docking would’ve happened 45 minutes earlier, had it not been for a problem having to do with ISS crew members not being able to receive video from the Crew Dragon’s center line camera. Ground controllers remedied the problem by routing video from a SpaceX ground station, according to NASA.