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
Here's Tim Peake waving goodbye to his family before launch - behind glass, because of quarantine restrictions:
And BBC Moscow correspondent Sarah Rainsford reports on some of the rituals observed by astronauts and cosmonauts in Russia - including urinating on the back wheel of the bus:
Our correspondent Claire Marshall, at the Science Museum in London for launch day festivities, tweets:
Meanwhile, the European Space Agency gives us an idea of how much space there is - it's not a lot...
And Nasa astronaut Samantha Cristoforetti describes her launch:
Fiona O'Connor, Tim's sister, says:
Quote MessageI know this is what he really wants to do, he's worked so hard for it and I'm thrilled on his behalf that he's finally getting the chance to go. I think this is the pinnacle of his career really.
Ian Curry, Tim's friend, who is at Baikonur to see him launch, said:
Quote MessageHe's very confident of the technology - it's tried, trusted and tested.
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Astronauts going to the Space Station follow a series of superstitions, procedures and etiquette:
Image source, AFP/Getty ImagesTim Peake and his fellow crew members were applauded as they left for the launch:
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Robert McQuaide emails:
You’re a lucky man, Enjoy the view!
Janet emails:
Good luck to Tim and the rest of the crew. I have a question: what do they do for clean clothes?
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Astronauts need to be fit and healthy. Many candidates who applied for Esa’s last selection process failed the first stage because of strict medical requirements – including:
No disease: Esa astronauts must be free of disease, psychiatric disorders and have the normal range of motion and functionality in their joints.
No addictions: Esa astronauts must be free of any dependency on tobacco, alcohol or drugs.
Good eyesight: Vision problems, along with cardiovascular defects, accounted for most medical disqualifications.
BBC iWonder test: Would you pass Esa’s first health check?
Image source, Getty ImagesSpeaking earlier to BBC News, Helen Sharman - who became the first #BritInSpace when she went to the Mir space station in 1991 - said Tim may well be feeling a bit impatient today.
Quote MessageLaunch itself is a day that you want to get on with, because finally, you're getting to do what you've been trained to do for so long. I trained for 18 months, Tim Peake will have trained for six years by the time he flies. You're part of a great big machine… By that stage, the team is so big - the doctors, the trainers - that you're not going to be able to go wrong.
Helen Sharman
Image source, VT Freeze FrameHelen Sharman in 1991
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Image source, AFP PhotoRussian cosmonaut Yuri Malenchenko reacts as his space suit is tested
Image source, AFP PhotoTim Peake: Happy with the pressure test
Image source, AP PhotoA farewell through the bus window
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A. Robertson emails:
Good luck from the Science Department at Chesterfield High School in Crosby.
When the Esa asked the public to name Tim’s space mission, more than 4,000 people submitted their ideas - and 20 suggested ‘Principia’.
The name is taken from a well-known book,Naturalis Principia Mathematica, written in the 17th Century by British physicist Sir Isaac Newton.
Newton’s text describes the laws of motion and gravity – an important component of spaceflight.
Image source, Science Photo Library
Image source, Science Photo LibraryEmail: haveyoursay@bbc.co.uk
Annette Woolfson emails:
Good luck to Major Peake and the rest of the crew. Enjoy the view from up there!
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On 12 April 1961, Russian cosmonaut Yuri Gagarin became the first human in space. He orbited the Earth for 108 minutes.
The US triumphed on 20 July 1969 when Neil Armstrong and Buzz Aldrin landed on the Moon as part of the Apollo 11 mission.
The first Briton to go into space was chemist Helen Sharman. She launched on 18 May 1991 and spent eight days on the Mir space station.
BBC iWonder timeline: Britain’s hidden role in the space race
Paul Rincon
Science editor, BBC News website, Baikonur
The crew members have had their medical tests and pressure tests in their space suits.
They then came out of Building 254 for a photo call before departing in their bus.
Quote MessageWe're really happy. It's been a long journey to get to this point so we're really excited to get to this stage in the game and I know he is too. He just looks so ready for it.
Rebecca Peake, Tim's wife
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Spacesuits have been cleverly designed to protect astronauts from extreme temperatures. They also provide air pressure to stop body fluids boiling in the vacuum of space.
Discover the clever components of spacesuits with BBC iWonder's interactive feature.
Image source, ILC Dover, LP