It was an absolutely stunning achievement that was met with cheers: SpaceX landed a Falcon 9 rocket onto a barge in the Atlantic Ocean, and it was all caught on film.

The rocket had sent a Dragon cargo ship into orbit as it makes its two-day journey to the International Space Station with 3.5 tons of cargo, including a module that could lead to deep space habitats in the future.

The first-stage rocket that sent the cargo there successfully returned to Earth and landed beautifully on the off-shore barge, which was situated about 185 miles northeast of Cape Canaveral.

The video was spectacular, showing the huge 156-foot rocket descend vertically and then softly land ont he barge just a little bit off the giant bullseye painted on the barge. And it did this in seas that were a little bit choppy.

The rocket was named “Of Course I Still Love You,” and it landed safely about 8 minutes and 35 seconds after launch.

SpaceX CEO Elon Musk has been trying to figure out how to land a rocket so it can be reused over and over again, which would be a huge achievement in the space industry and drastically slash the costs of future launches, thereby making space travel much cheaper and more frequent.