"Splashdown! Welcome back to planet Earth, @Inspiration4x!" SpaceX said on Twitter, releasing a video of the capsule's descent and water landing off Florida's coast.

The four private astronauts made the successful splashdown in the Atlantic Ocean at around 07:06 p.m. eastern time (23:06 GMT) on Saturday.

The Crew Dragon spacecraft with the Inspiration4 crew was launched from the Kennedy Space Center in Florida on Wednesday, September 15. It was launched into a 360-mile orbit, higher than the International Space Station (ISS) which orbits the Earth at an average altitude of approximately 250 miles.

The crew of the Inspiration4 mission, which raised money for St. Jude Children's Research Hospital, included four US citizens: businessman Jared Isaacman, researcher Sian Proctor, medic Hayley Arceneaux and US Air Force veteran Christopher Sembroski. They conducted scientific research during their three days in space.