June 24 (UPI) -- Following numerous delays and scrubbed liftoffs, NASA, SpaceX and Axiom Space successfully launched their Axiom-4 mission early Wednesday, sending four astronauts in what is the fourth private commercial mission to the International Space Station.

The Falcon 9 rocket launched at 2:31 a.m. EDT on Wednesday from Launch Complex 39A at NASA's Kennedy Space Center in Florida. As the countdown hit zero and the spacecraft began its ascent from Earth, cheers erupted from mission control during the live broadcast.

"Liftoff of Ax-4!" SpaceX celebrated on X, posting a 30-second clip of the liftoff.

Liftoff of Ax-4! pic.twitter.com/RHiVFVdnz3— SpaceX (@SpaceX) June 25, 2025

Following confirmation of nominal orbit insertion, which occurred about 10 minutes after launch, the commander of the mission, American Peggy Whitson, said they were heading for the ISS.