With floating hugs and smiles all around, the two NASA astronauts who crewed the ill-fated Boeing Starliner greeted their replacements aboard the International Space Station early Sunday morning.

After their flight was scrubbed on Wednesday, four astronauts successfully lifted off, which will allow two NASA astronauts to return to Earth after an unexpected extended stay in orbit.

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.”