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TWO American astronauts have splashed back down to Earth following the first commercial crewed mission to the International Space Station.

Doug Hurley and Bob Behnken - who headed from space back to despite the threat of - arrived home at 2.48pm ET on Sunday.

The SpaceX 's Crew Dragon capsule spacecraft parachuted into the Atlantic Ocean, off the coast of Florida, on Sunday afternoon at 2.48 ET
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The SpaceX 's Crew Dragon capsule spacecraft parachuted into the Atlantic Ocean, off the coast of Florida, on Sunday afternoon at 2.48 ETCredit: (NASA/Bill Ingalls)
Boats race to pick up the crew after the historic splashdown in the Gulf of Mexico
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Boats race to pick up the crew after the historic splashdown in the Gulf of MexicoCredit: AP:Associated Press

Their spacecraft went from 17,500mph in orbit to 350mph during re-entry, and finally to 15mph as it parachuted into the water.

It was exposed to a peak temperature of 1,900C (3,500F) during the descent.

The splashdown took place in the Gulf of Mexico and was the first ocean landing in 45 years.

As the astronauts made their return, four parachutes were deployed.

Footage was shared to Twitter page of their "recovery teams approaching the @SpaceX Dragon capsule and gathering the parachutes in the water."

Astronaut Doug Hurley is seen here as he gave a thumbs up while leaving the hatch
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Astronaut Doug Hurley is seen here as he gave a thumbs up while leaving the hatch
Astronaut Bob Behnken is seen here successfully leaving the capsule a short time after splashing down on Earth
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Astronaut Bob Behnken is seen here successfully leaving the capsule a short time after splashing down on Earth
The astronauts undocked from the International Space Station on Saturday evening
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The astronauts returned to Florida on Sunday after the first commercial crewed mission to the International Space Station
The SpaceX Dragon capsule on board one of the recovery vessels in the Gulf of Mexico
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The SpaceX Dragon capsule on board one of the recovery vessels in the Gulf of MexicoCredit: AP:Associated Press

At 4pm ET, both astronauts successfully left the hatch as a recovery team assisted them.

Both Behnken and Hurley gave a thumbs up.

"Welcome back to planet Earth and thanks for flying SpaceX," said controllers at SpaceX headquarters.

"It was truly our honor and privilege," replied Hurley.

After medical checks by a crew who had been in strict quarantine, they were flown by helicopter to Pensacola, then on to Houston.

Douglas Hurley waves to onlookers as he boards a plane at Naval Air Station Pensacola
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Douglas Hurley waves to onlookers as he boards a plane at Naval Air Station PensacolaCredit: AFP or licensors
 NASA astronaut Robert Behnken giving a thumbs up to waiting crowds after the successful mission
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 NASA astronaut Robert Behnken giving a thumbs up to waiting crowds after the successful missionCredit: AFP or licensors
Nasa boat crews circle the capsule after splashdown on Sunday afternoon
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Nasa boat crews circle the capsule after splashdown on Sunday afternoonCredit: (NASA/Bill Ingalls)

"This has been quite an odyssey," Hurley said at a homecoming ceremony at Johnson Space Center.

"To be where we are now, the first crewed flight of Dragon, is just unbelievable."

He added: "It's a little bit overwhelming to see everybody here considering the things that have gone on the last few months since we've been off planet."

About six minutes after splash, shared a celebratory tweet.

Billionaire SpaceX boss Elon Musk seemed emotional after the splashdown
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Billionaire SpaceX boss Elon Musk seemed emotional after the splashdownCredit: NASA
Musk revealed he prayed for a successful mission at a press conference after the landing
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Musk revealed he prayed for a successful mission at a press conference after the landingCredit: NASA
Doug Hurley and Bob Behnken are pictured before their return to Earth
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Doug Hurley and Bob Behnken are pictured before their return to EarthCredit: AP:Associated Press
Parachutes are seen above the capsule just as it lands in the water at 15mph
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Parachutes are seen above the capsule just as it lands in the water at 15mphCredit: Reuters
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The SpaceX Dragon capsule is seen in the water after the recovery team close in
Nasa astronauts Douglas Hurley, left, and Bob Behnken are seen here ahead of their launch into space in May
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Hurley, left, and Behnken are seen here ahead of their launch into space in May

He : "Great to have NASA Astronauts return to Earth after very successful two-month mission. Thank you to all!"

Vice President Mike Pence also expressed his excitement to , writing: "Welcome home, @AstroBehnken and @Astro_Doug!

"Congratulations on a successful and historic mission to the @Space_Station.

"Thanks to your service, the United States has ushered in a new era of human space exploration!"

Billionaire SpaceX boss Elon Musk rushed to Houston from the company's headquarters in Hawthorne, California to welcome the astronauts.

It was the first time a private company has flown to the ISS carrying astronauts.

The recovery boat is pictured in the water next to the astronauts' hatch
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The recovery boat is pictured in the water next to the astronauts' hatch

"This day heralds a new age of space exploration," Musk said. "I'm not very religious, but I prayed for this one."

Musk also tweeted: 'Congratulations SpaceX & NASA on completing first crewed Dragon flight!!'

He later said of the mission: "I think my entire adrenaline just dumped.

"These are difficult times, there's not that much good news... No matter where you are on planet Earth, this is a good thing. And I hope it brightens your day."

Behnken and Hurley are pictured inside the SpaceX Crew Dragon spacecraft before undocking on Saturday
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Behnken and Hurley are pictured inside the SpaceX Crew Dragon spacecraft before undocking on SaturdayCredit: EPA
The astronauts arrived in the Gulf of Mexico to be greeted by gatecrashing boaters
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The astronauts arrived in the Gulf of Mexico to be greeted by gatecrashing boaters

Nasa recovery teams checked to see there were no poisonous fumes around the capsule before lifting it out of the water and onto the GoNavigator.

The capsule, dubbed the Endeavour, undocked from the  (ISS) on Saturday.

The ISS confirmed on Twitter Saturday that the Endeavour undocked at 7.35pm ET "to complete a ."

"Two very small engine burns separated @SpaceX Endeavour from the station," the account .

SpaceX support teams were deployed on fast boats prior to the spacecraft's landing
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SpaceX support teams were deployed on fast boats prior to the spacecraft's landingCredit: AP:Associated Press

"The spacecraft is slowly maneuvering away from the orbital laboratory into an orbital track that will return @AstroBehnken & @Astro_Doug
safely to Earth for splashdown on Sunday. "

The two men began their journey when they took off from Cape Canaveral, Florida aboard SpaceX's Falcon 9 rocket to the International Space Station on May 30. 

Earlier on Saturday,  announced that weather conditions were a "go" for them to undock and to splashdown in the Atlantic Ocean.

, which has allowed the US astronauts to help out with spacewalks and experiments.

US astronauts from SpaceX's new Crew Dragon hold a press conference after splashing down in the Gulf of Mexico

The splashdown was the first water landing by NASA since 1975, when crews were still using the Apollo rockets from the American moon missions. 

The return clears the way for another SpaceX crew launch as early as next month and possible tourist flights next year.

The high-profile "splashdown" was gatecrashed by recreational boaters who breached security in the waters.

“That was not what we were anticipating,” NASA Administrator Jim Bridenstine said at a press conference addressing the private boaters who greeted the craft with spacemen Robert Behnken and Douglas Hurley aboard.

Several boats with multiple passengers, including one flying a Trump campaign flag, could be seen on a livestream that captured the historic voyage surrounding the floating capsule after it safely touched down.

Bridenstine noted that the US Coast Guard cleared a landing for the craft and it wasn’t until after splashing down that the spectators crept close.

“We wanted to make sure that there was a clearing for them to land. The Coast Guard did an excellent job of ensuring that,” said Bridenstine.

“Then of course, after they landed the boats just came in. We need to do a better job next time for sure,” he said.

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