SpaceX’s Polaris Dawn crew has successfully returned to Earth after a historic five-day mission, which included the world’s first commercial spacewalk.

The Crew Dragon capsule, carrying four astronauts, splashed down in the Gulf of Mexico near Dry Tortugas, Florida, at 3:37 a.m. ET on Sunday.

During the mission, the crew reached the highest altitude achieved by humans in five decades. Safely returning involved performing a “de-orbit burn” and enduring extreme temperatures during re-entry.

After deploying parachutes to slow their descent, the capsule landed in the ocean and was quickly recovered by rescue teams, CNN has reported.

Following final safety checks onboard a special boat, the crew began their journey back to land.

Written by B.C. Begley