ORLANDO, Fla. — America’s quest to once again fly humans to space and bring them back again was realized Sunday with a cannonball splash into the Gulf of Mexico.

It’s taken six years to forge and test SpaceX and NASA’s Commercial Crew Program, and on Sunday at 2:48 p.m., Bob Behnken and Doug Hurley splashed down off the coast of Pensacola in the Gulf of Mexico. Their return to Earth comes after 63 days aboard the International Space Station.

“Welcome back to planet Earth, and thanks for flying SpaceX,” said Mike Heiman, crew operations and resources engineer for SpaceX.

The veteran astronauts completed their mission aboard the Crew Dragon capsule, the first private spacecraft built to launch humans and the first that’s lifted off from U.S. soil since the space shuttle program ended in 2011. With the flight, the United States solidified its position in the modern-day space race.

Sunday’s splashdown book ended a 19-hour journey through space, after the astronauts undocked their capsule called Endeavour on Saturday night at 7:35 p.m. They spent the first leg of the trip sleeping, then woke up to a message from their sons and ate breakfast.

Just a few moments before splashdown, the spacecraft entered a nerve-racking six-minute blackout during which it couldn’t communicate with ground teams. “We will see you on the other side,” the team on Earth said. “Talk to you then,” Hurley replied.

There was a moment of relief when Hurley came back online: “Never heard you louder and clearer.”

Since departing the ISS, the capsule has traveled more than 27 million miles, going 17,500 mph, 20 times the speed of sound. Two boats sped out to check the capsule and teams from the “Go Navigator” recovery ship hoisted it on board and then opened the hatch for the astronauts to emerge.

The Pensacola site was chosen after it became clear that Tropical Storm Isaias would be threatening the Atlantic Ocean zones that included Jacksonville, Daytona Beach and Cape Canaveral.