In a historic moment of Elon Musk’s SpaceX, the company’s Crew Dragon craft successfully docked at the International Space Station on Sunday.

The unmanned capsule arrived right on schedule just before 6 a.m. (ET) on Sunday, following its early morning launch on Saturday from Cape Canaveral, Florida.

NASA broke the news in a tweeted video of the docking, which elicited roaring cheers from those watching.

A member of SpaceX’s mission control center called it “unbelievable news.”