In pictures: SpaceX's historic mission

Hurley, left, and Behnken, second from right, ride in a helicopter after returning from space.

The Crew Dragon spacecraft is lifted onto a recovery ship shortly after splashdown.

Behnken and Hurley give a thumbs-up before being extracted from the Crew Dragon spacecraft.

Boats swarm around the Crew Dragon shortly after splashdown. NASA Administrator Jim Bridenstine said during a news conference that the Coast Guard was supposed to keep a large swath of ocean around the landing site clear but that some boats made a "beeline" for the capsule. In a statement on August 2, the Coast Guard said, "With limited assets available and with no formal authority to establish zones that would stop boaters from entering the area, numerous boaters ignored the Coast Guard crews' requests and decided to encroach the area, putting themselves and those involved in the operation in potential danger."

Hurley and Behnken prepare to undock from the International Space Station on Saturday, August 1.

NASA tweeted this photo of Behnken and Hurley on Friday, July 30.

"If the weather at our splashdown location is right, next week at this time @SpaceX's Crew Dragon Endeavour will no longer be docked to the front of @Space_Station," Behnken tweeted on Wednesday, July 29. "My family is excited!"

Hurley tweeted this photo of Behnken and Chris Cassidy on a spacewalk outside the International Space Station on July 21.

Hurley, left, and Behnken brief mission control on June 1.

The Crew Dragon spacecraft approaches the International Space Station on May 31.

Spectators watch the SpaceX launch from a bridge in Titusville, Florida, on May 30.

Huge crowds gathered to watch the launch from Titusville, across from Kennedy Space Center in Cape Canaveral, Florida.

The spacecraft heads toward the International Space Station on May 30.

President Donald Trump speaks during an event at Kennedy Space Center after the launch.

An American flag flies as the SpaceX rocket lifts off on May 30.

SpaceX founder Elon Musk celebrates after the successful launch.

Vice President Mike Pence and his wife, Karen, join President Trump as they watch the launch on May 30.

People watch the launch from a beach in Cape Canaveral.

Monitors are seen in the Launch Control Center at Kennedy Space Center.

Liftoff occurred just after 3:20 p.m. on May 30.

Hurley says goodbye to his wife and son before the launch on May 30.

Trump and Pence arrive at Kennedy Space Center on May 30.

Hurley and Behnken walk out of the Neil Armstrong Operations and Checkout Building on May 30.

This was the scene moments before NASA scrubbed a launch on May 27. It was postponed due to bad weather.

Trump and his wife, Melania, tour the Neil Armstrong Operations and Checkout Facility on May 27.

The Trumps exit Air Force One as they arrive at Kennedy Space Center on May 27.

Hurley and Behnken ride a Tesla SUV on their way to the launch pad before the cancellation on May 27.

Hurley and Behnken say goodbye to family members ahead of the planned launch on May 27.

Storm clouds pass over NASA's Vehicle Assembly Building at Kennedy Space Center on May 27.

SpaceX founder Elon Musk wears a face mask while standing near Vice President Mike Pence.

Hurley and Behnken walk out of the Neil Armstrong Operations and Checkout Building.

Spectators look out from a hotel balcony in Cocoa Beach, Florida, on May 27.

Hurley and Behnken prepare to place mission stickers on the windshields of their Tesla vehicles.

The SpaceX Falcon 9 rocket, with the Crew Dragon spacecraft on top, sits on Launch Pad 39A at Kennedy Space Center.

Spectators wait at a park in Titusville early on May 27.