Your reactions to the launch: 'Not a hint of nerves' from Timpublished at 11:30
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Summary
Tim Peake launches into space and becomes Britain's first official astronaut to fly to the International Space Station
His lift-off, on a Russian Soyuz rocket with Russian commander Yuri Malenchenko and US astronaut Tim Kopra, happened at 11:03 GMT
After six-and-a-half hours, at 17:33 GMT, their capsule successfully docked with the ISS
Two-and-a-half hours after that, the hatch finally opened and the ISS crew welcomed the three newcomers on board
Mr Peake, previously an Army major and helicopter pilot, will spend six months on board the space station orbiting the Earth
He has spent six years training to become the first professional British astronaut to be employed by the European Space Agency
Your reactions to the launch: 'Not a hint of nerves' from Timpublished at 11:30
Tim Peake and the crew are in zero G - and well on their waypublished at 11:28
Live video coverage has finished for now - but stay with us for updates as we wait for Tim to arrive at the International Space Station in the late afternoon.
There were cheers again at the Science Museum, as the dangling pen in front of the crew started to float, indicating the capsule was in orbit, moving at more than 17,000 miles per hour and rapidly catching up with the ISS.
The Russian space agency Roscosmos has tweeted what we will see when they arrive and dock:
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End of twitter postPrime minister tweetspublished at 11:27 Greenwich Mean Time 15 December 2015
Prime Minister David Cameron was among those watching the launch:
get involved Tweet us your views - @BBC_HaveYourSaypublished at 11:17
Get involved
'That's the way to get to the office'published at 11:16
So says Dallas Campbell, at the Baikonur cosmodrome in Kazakhstan for BBC Stargazing Live:
Meanwhile, BBC science editor David Shukman tweets:
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End of twitter postJourney update: Where is Tim now?published at 11:13
The Soyuz rocket will have now traveled over 1,640km (1,019 miles) and gained 210km (130 miles) altitude.
Orbital speed will be 28,000 km/h (17,398 miles/hr) – almost 13 times faster than the Concorde jet.
Watch: Esa explains the rendezvous and docking sequence., external
Separation of the capsule - and a wave from Major Timpublished at 11:10
To huge cheers at the Science Museum in London, where a crowd is watching events live, Tim Peake just waved from inside the Soyuz
Image source, ESA
Image source, ESAGet Involvedpublished at 11:07
Tweet us your views - @BBC_HaveYourSay
LIFT OFF! Tim Peake and his fellow crew members are on their way to the Space Stationpublished at 11:03
Breaking
Image source, ESAOne minute to go: Scenes from the launch padpublished at 11:02
Image source, ESA
Image source, ESAget involved Three minutes to launch - get involvedpublished at 10:59
Email us your views: haveyoursay@bbc.co.uk
Spencer Hawkes emails:
Perhaps more than ever before, this launch feels like a way of bringing mankind together, at a time when we most need it. Godspeed Tim.
Ian Jenkins emails:
Spare a thought for us, Tim, having to do a normal mundane day's work!
Great excitement back in London...published at 11:00
The BBC's science editor David Shukman sends this tweet from the Science Museum:
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End of twitter postThe Stargazing Live team are also there - watch using the "Live Coverage" tab above.
'The Final Countdown'published at 10:58
As you may have heard, Tim Peake's choices for the pre-liftoff playlist were Don't Stop Me Now by Queen, Beautiful Day by U2, and A Sky Full Of Stars by Coldplay.
Right now though, one of the other crew member's choices is playing - and it's a highly appropriate 1980s number by Europe...
Apache pilot to astronautpublished at 10:55
Tim acquired some of the skills he needs to be an astronaut when he piloted Apache helicopters.
Flying military missions and pushing experimental aircraft to their limits have their own dangers. Pilots must be rational and calm to cope with emergencies flying 20,000 feet above the ground – good training for a system failure on board the ISS, or an emergency spacewalk.
Watch Tim Peake explain how his skills as a pilot transfer to his career as an Esa astronaut.
Image source, Mark Chivers/Tim PeakeCoping under pressure: Do you have the right psychology?published at 10:53
We are 10 minutes away from lift-off. How would you be feeling if you were in Tim's shoes?
And once you were in orbit - if you noticed a burning smell while on board the Space Station, what would you do?
Take Tim Peake’s testto see if you have the right psychological traits for life in space.
More good luck wishes - and a peek inside the Soyuz capsulepublished at 10:49
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End of twitter post 3Don't stop me now...published at 10:47
Each member of the crew got to choose three songs to listen to as they wait.
Right now, Tim's choices are up - including Don't Stop Me Now by Queen:
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End of twitter postWatch now: Stargazing Livepublished at 10:43
Join Dara O Briain and Prof Brian Cox for their blast off special.
Just hit the "Live Coverage" tab above.
20 minutes to go...
The modern machine taking Tim into spacepublished at 10:42
How the Soyuz spacecraft has evolved since it began taking astronauts to the International Space Station:
get involved Send us your commentspublished at 10:40
Tweet us at @BBC_HaveYourSay