Boeing Co.’s (NYSE:BA) long-awaited space taxi successfully launched on Wednesday, signifying a defining milestone for the aerospace corporation and its primary client NASA. The embarked on its journey atop a United Launch Alliance Atlas V rocket from Cape Canaveral, Florida, at 10:52 a.m. local time.

The launch, carrying expert NASA astronauts Sunita “Suni” Williams and Barry “Butch” Wilmore, proceeded without complications, with the capsule separating from the ULA rocket 15 minutes into the mission. Starliner subsequently maneuvered into a stable orbit approximately 30 minutes after liftoff, eliciting cheers and relief from NASA officials and spectators.

The Starliner is scheduled to perform a series of maneuvers to rendezvous with the International Space Station (ISS) around 12:15 p.m. Florida time on Thursday, marking the commencement of a week-long stay.

This milestone launch comes after years of delays and technical setbacks, including a failed test flight in 2019 and recent concerns over a helium leak. However, NASA considers this mission pivotal in demonstrating Starliner’s capability to safely transport astronauts to and from the ISS under its Commercial Crew Program.

In 2014, NASA awarded Boeing $4.2 billion, alongside Elon Musk’s SpaceX receiving $2.6 billion, to develop crew vehicles. While Starliner faced notable delays, SpaceX has successfully launched nine crews to the space station since 2020.

Boeing’s previous attempts for the launch were thwarted by technical issues, including an anomaly with the Atlas V rocket’s pressure valve and a minor helium leak on Starliner. Nevertheless, Wednesday’s successful launch denotes a significant stride forward for Boeing and its ambitions in space exploration.

In a pre-launch statement, Wilmore highlighted the symbolism of the American flags, emphasizing unity and resilience in collective efforts for the greater good. As the Starliner embarks on its mission, Boeing and NASA anticipate further progress in human spaceflight endeavors.