Dubbed Inspiration4, the mission launched Wednesday from NASA’s Kennedy Space Center in Cape Canaveral, Florida just after 8 p.m.

During their live-streamed ascent, some of the crew gave a “thumbs up” and pumped their fists in the air in celebration of the successful liftoff.

The four private citizens — two men and two women — will spend three days circling the world at an altitude of 335 miles — about 75 miles higher than the International Space Station and on a level with the Hubble Space Telescope.