The Falcon rocket blasted off from Kennedy Space Centre’s Launch Complex 39A carrying supplies for the International Space Station this morning.
Astronauts flew to the moon from the very same spot nearly a half-century ago.
The pad was last used for Nasa’s final shuttle mission almost six years ago.
This is SpaceX’s first launch from Florida since a rocket explosion last summer.
As an extra treat for spectators, SpaceX aims to land the booster rocket back at Cape Canaveral following lift off – a recycling feat has been accomplished only twice before.
SpaceX is leasing the pad from Nasa for 20 years.
The company hopes to launch US astronauts from there next year.
A launch attempt on Saturday was scuppered after a problem with the second-stage thrust control.
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