SpaceX's Falcon 9 rocket lifted off at 7:03 p.m. ET (2303 GMT) from NASA's Kennedy Space Center in Florida carrying four astronauts who will replace Wilmore and Williams, both of whom are veteran NASA astronauts and retired U.

A SpaceX capsule carrying a fresh crew to the space station launched Friday, setting the stage for the Starliner astronauts to finally come home.