An American billionaire has become the first person to take part in a private spacewalk - against the spectacular backdrop of the Earth.
A spacewalk is considered one of the most dangerous activities an astronaut can do in orbit.
SpaceX Polaris Dawn spacewalk - live updates
It was delayed by around four hours earlier this morning - with no explanation given - before final safety checks of the spacesuits and equipment were carried out and SpaceX officials confirmed the mission was "go for spacewalk".
First images broadcast from inside the Dragon capsule showed the four-strong crew preparing for the historic event - and sharing fist bumps with each other.
Daredevil billionaire Jared Isaacman, 41, was the first to exit the capsule after opening the hatch as a body camera showed his ascent through the narrow opening before incredible footage showed the spacewalk taking place to huge cheers from mission control at Cape Canaveral.
He had said before lift-off earlier this week: "Whatever risk is associated with it, it is worth it."
"I wasn't alive when humans walked on the Moon," he said. "I'd certainly like my kids to see humans walking on the Moon and Mars, and venturing out and exploring our solar system."
The tech entrepreneur blasted into space from Cape Canaveral in Florida before dawn on board a SpaceX Falcon 9 rocket on Tuesday for the five-day flight - along with mission pilot Scott Poteet, 50, a retired US Air Force lieutenant colonel, and SpaceX employees Sarah Gillis, 30, and Anna Menon, 38, both senior engineers at the company.
The mission, called Polaris Dawn, to test a new line of spacesuits is the company's riskiest mission yet - from a space capsule that doesn't have a safety airlock, and in suits far slimmer than the bulky protective layers worn by NASA astronauts.
It is the first of three funded by Mr Isaacman - a pilot and the billionaire founder of electronic payment company Shift4.
He has refused to say how much he is paying for the missions, but they are believed to have cost hundreds of millions of dollars based on Crew Dragon's roughly $55m (£42m) per-seat price for other flights.
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