Their SpaceX capsule made a fast and fiery re-entry through the Earth's atmosphere, before four parachutes opened to take them to a gentle splashdown off the coast of Florida.

A pod of dolphins circled the craft.

After a recovery ship lifted it out of the water, the astronauts beamed and waved as they were helped out of the hatch, along with fellow crew members astronaut Nick Hague and cosmonaut Aleksandr Gorbunov.

"The crew's doing great," Steve Stich, manager, Nasa's Commercial Crew Program, said at a news conference.

It brings to an end a mission that was supposed to last for just eight days.

It was dramatically extended after the spacecraft Butch and Suni had used to travel to the International Space Station suffered technical problems.

"It is awesome to have crew 9 home, just a beautiful landing," said Joel Montalbano, deputy associate administrator, Nasa's Space Operations Mission Directorate.

Thanking the astronauts for their resilience and flexibility, he said SpaceX had been a "great partner".

The journey home took 17 hours.

The astronauts were helped on to a stretcher, which is standard practice after spending so long in the weightless environment.

They will be checked over by a medical team, and then reunited with their families.

"The big thing will be seeing friends and family and the people who they were expecting to spend Christmas with," said Helen Sharman, Britain's first astronaut.

"All of those family celebrations, the birthdays and the other events that they thought they were going to be part of - now, suddenly they can perhaps catch up on a bit of lost time."

The saga of Butch and Suni began in June 2024.

They were taking part in the first crewed test flight of the Starliner spacecraft, developed by aerospace company Boeing.

But the capsule suffered several technical problems during its journey to the space station, and it was deemed too risky to take the astronauts home.

Starliner returned safely to Earth empty in early September, but it meant the pair needed a new ride for their return.

So Nasa opted for the next scheduled flight: a SpaceX capsule that arrived at the ISS in late September.

It flew with two astronauts instead of four, leaving two seats spare for Butch and Suni's return.

The only catch was this had a planned six-month mission, extending the astronauts stay until now.

The Nasa pair embraced their longer-than-expected stay in space.

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