The crew of SpaceX’s Polaris Dawn mission made history on Thursday, as they embarked on the world’s firstever private spacewalk.

Billionaire Jared Isaacman, 41, exited the Crew Dragon capsule first. He was followed by SpaceX engineer Sarah Gillis.

“Back at home we all have a lot of work to do, but from here Earth sure looks like a perfect world,” Isaacman said after emerging from the spacecraft.

Isaacman, Gillis, Scott Poteet, a retired U.S. Air Force Lieutenant Colonel, and SpaceX engineer Anna Menon had been orbiting Earth aboard Crew Dragon since Tuesday’s predawn launch.

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