NASA’s Perseverance rover captured a historic group selfie with the Ingenuity Mars Helicopter on April 6, 2021. But how was the selfie taken? Vandi Verma, Perseverance’s chief engineer for robotic operations at NASA’s Jet Propulsion Laboratory in Southern California breaks down the process in this video.

Video taken by Perseverance’s navigation cameras shows the rover’s robotic arm twisting and maneuvering to take the 62 images that compose the image. The rover’s entry, descent, and landing microphone captured the sound of the arm’s motors whirring during the process.

Selfies allow engineers to check wear and tear on the rover over time.

For more information on Perseverance, visit https://mars.nasa.gov/perseverance.

Credit: NASA/JPL-Caltech/MSSS