When SpaceX launched its Dragon supply mission to the International Space Station on April 18, it tried something revolutionary after the spacecraft was safely in orbit.

Behind the scenes, CEO Elon Musk and his team had been testing the reusability of this rocket. On that Friday, the team returned part of it to Earth for the first time in history. Once Dragon was in space, the first stage separated and re-entered Earth’s atmosphere. As the helium-filled rocket slowed, it extended four 25-foot-long landing legs and used its thrusters to briefly hover over the Atlantic Ocean before plopping down ever so gently onto its surface.

Musk and his team pulled it off — a huge feat considering that the chance of success was only around 30% to 40%. The SpaceX team recovered the raw video from the camera that was on board Falcon 9, and software engineers have spent the last week trying to repair the footage, which was taken just before splashdown.

The first video is the raw footage:

Here's what they got with the repaired video (note the brief flash of the landing legs):

The night before the launch, Musk told me that if he could nail the landing, it'd be the most important thing SpaceX has accomplished to date because it would get the company one step closer to developing a cost-effective, reusable rocket.

"If we bring back the boost stage, I think it's the most significant thing SpaceX has done, for sure," Musk said.

The team was able to bring back the first stage. The rocket was clearly vertical — an important detail in testing reusable rockets — and the soft landing was successful. However, the weather wasn't cooperative that day and the stage was destroyed by rough waves. Fortunately, Musk said his team was able to recover bits of the rocket.

Partly cleaned up frame from rocket landing. Full stream posted on http://t.co/0ibzGWMxzu tmrw pic.twitter.com/3c754LVYVK — Elon Musk (@elonmusk) April 29, 2014

Musk, who has made three of his 12 slated cargo deliveries to the ISS as part of his $1.6 billion contract with NASA, said he will continue to push these reusability tests in future launches this year.