Watch the SpaceX Dragon capsule dock with the International Space Station, 4 astronauts disembark

The SpaceX Crew Dragon "Resilience" successfully docked with the International Space Station late Monday, 262 miles above Idaho and more than 27 hours after the four astronauts began their automated journey from NASA's Kennedy Space Center in Florida.

The four astronauts — NASA's Mike Hopkins and his crew, Victor Glover, Shannon Walker, and Japan's Soichi Noguchi — docked after a slow and careful approach, captured on camera from both the ISS and inside the Dragon capsule.

"Oh, what a good voice to hear," astronaut Kate Rubins said from the ISS when Hopkins first made radio contact. "We can't wait to have you on board." When he and the others came through the hatch, there were hugs and applause. (All the astronauts were strictly screened for COVID-19.)

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The crew will remain on the ISS for six months, to be replaced by another crew arriving on a SpaceX capsule in the spring. One their way up to the ISS, the astronauts gave a tour of the Resilience, and you can watch that below. Peter Weber