Story highlights Falcon 9 rocket launches successfully, taking 10 commercial satellites into space

The first stage of the rocket makes a smooth landing on a seafaring drone ship

(CNN) SpaceX returned to flight Saturday after a 4½-month hiatus.

The private space exploration company headed by Tesla CEO Elon Musk launched a Falcon 9 rocket from Vandenberg Air Force Base in California at 9:54 a.m. PT, taking 10 satellites into space for voice and data company Iridium.

The launch's success Saturday was made even sweeter by a smooth return landing for the Falcon 9 rocket's first stage booster. It safely returned from space and glided to a landing on a seafaring platform, known as a drone ship.

SpaceX has been attempting to perfect the rocket landing -- along with rivals such as Blue Origin from Amazon founder Jeff Bezos