SpaceX successfully launched — and landed! — its Falcon 9 rocket on Saturday, it's first launch since another one of its rockets exploded last fall.

Luckily for us, some adventurous guys caught the whole thing on camera from nearly two miles up in the air.

As the rocket, carrying 10 communications satellites for the company Iridium, lifted off from Vandenberg Air Force Base in California, a trio of flight enthusiasts were flying their own small airplane at around 8,500 feet, outside of the no-fly zone but still close enough for a terrific view of the launch, including the below video from Van Espahbodi of Starburst Accelerator.

Espahbodi was joined by Ben Marcus and Amir Blachman, who posted additional footage of the launch.

Mashable has reached out to SpaceX for more information on the no-fly zone surrounding their launches.