The first space tourists to perform a spacewalk have successfully returned to Earth. The Polaris Dawn mission participants’ capsule splashed down in the Gulf of Mexico.

SpaceX’s Crew Dragon spacecraft launched from Cape Canaveral on Tuesday, reaching an altitude of 700 km above the Pacific Ocean. Billionaire Jared Isaacman and SpaceX engineer Sarah Gillis each took turns exiting the spacecraft through the hatch for their historic spacewalk. The entire operation was broadcast live.