SpaceX's astronaut-riding Dragon arrives at space station

CAPE CANAVERAL, Fla — SpaceX delivered two astronauts to the International Space Station for NASA on Sunday, following up a historic liftoff with an equally smooth docking in yet another first for Elon Musk's company.

With test pilots Doug Hurley and Bob Behnken poised to take over manual control if necessary, the SpaceX Dragon capsule pulled up to the station and docked automatically, no assistance needed.

It was the first time a privately built and owned spacecraft carried astronauts to the orbiting lab in its nearly 20 years. NASA considers this the opening volley in a business revolution encircling Earth and eventually stretching to the moon and Mars.

The docking occurred just 19 hours after a SpaceX Falcon 9 rocket blasted off Saturday afternoon from Kennedy Space Center, the nation's first astronaut launch to orbit from home soil in nearly a decade. Thousands jammed surrounding beaches, bridges and towns to watch as SpaceX became the world's first private company to send astronauts into orbit, and ended a nine-year launch drought for NASA.

A few hours before docking, the Dragon riders reported that the capsule was performing beautifully. Just in case, they slipped back into their pressurized launch suits and helmets for the rendezvous.

The three space station residents kept cameras trained on the incoming capsule for the benefit of flight controllers at SpaceX headquarters in Hawthorne, California, and NASA's Johnson Space Center in Houston. Gleaming white in the sunlight, the Dragon was easily visible from a few miles out, its nose cone open and exposing its docking hook as well as a blinking light. The capsule loomed ever larger on live NASA TV as it closed the gap. Hurley and Behnken took over the controls and did a little piloting less than a couple hundred yards (meters) out as part of the test flight, before putting it back into automatic for the final approach. Hurley said the capsule handled “really well, very crisp.” SpaceX and NASA officials had held off on any celebrations until after Sunday morning's docking — and possibly not until the two astronauts are back on Earth sometime this summer.