CAPE CANAVERAL, Fla. (AP) — NASA astronauts Butch Wilmore and Suni Williams have returned to Earth after being stuck in space for more than nine months. Their SpaceX capsule parachuted into the Gulf of Mexico early Tuesday evening, just hours after departing the International Space Station.

The splashdown brought their space saga to an end. It all began with a bungled Boeing test flight last year. The two expected to be gone a week or so after launching on Boeing’s new Starliner capsule. So many problems cropped up that NASA ordered Starliner back empty and reassigned Williams and Wilmore to SpaceX for the ride home.

Watch their return to Earth below: