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SpaceX's Crew Dragon docks with space station

In this image taken from NASA Television, a live screen shows the docking scene of SpaceX's new crew capsule and the International Space Station Sunday morning.

A day after its successful launch from Cape Canaveral, SpaceX's Crew Dragon capsule reached another milestone on its maiden voyage.

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The capsule successfully docked with the International Space Station early Saturday, according to Space.com. Crew Dragon docked at 5:51 a.m. ET, 27 hours after its Florida liftoff, linking with the space station's Harmony module 250 miles above the Pacific Ocean north of New Zealand, the website reported.

"Congratulations to all the teams on a successful docking," NASA astronaut Anne McClain radioed Mission Control from aboard the space station.

The mission, called Demo-1, is the first flight test of a space system designed for humans built and operated by a commercial company, according to NASA.

Crew Dragon will spend the next five days attached to the orbiting lab, and will separate from the space station at 2 a.m. ET Friday, according to NASA. The capsule is expected to splash down in the Atlantic Ocean later that day.