One billionaire astronaut and one engineering astronaut completed the world’s first ever private spacewalk in a SpaceX capsule on Sept. 10. Operated by Polaris Dawn, the capsule also successfully landed back down just five days later in the Gulf of Mexico.

Jared Issacman, the pilot of the spacewalk and the founder of the Shift4 company, got outside the station first, followed by Sarah Gillis, an engineer at SpaceX. Two other crew members on board stayed back to observe the mission from the inside. The entire launch lasted for almost two hours, and the spacewalk still continues to orbit Earth since leaving Florida on Tuesday.

“Back at home we all have a lot of work to do,” Isaacman said. “But from here, Earth sure looks like a perfect world.”

The entire mission was live streamed on the SpaceX website which showed equipment like spacesuits that Elon Musk hopes to keep ambitioning on for future missions.