NASA astronauts Butch Wilmore and Suni Williams departed the International Space Station early on Tuesday morning in a SpaceX capsule for a long-awaited trip back to Earth, nine months after their faulty Boeing Starliner craft upended what was to be a roughly week-long test mission.

SpaceX launched a crewed NASA mission on Friday to return two astronauts from the International Space Station, after technical issues with Boeing’s spacecraft extended their stay for nine months, leading SpaceX CEO Elon Musk and President Donald Trump to suggest they were stranded for “political reasons.”