The SpaceX capsule carrying the first-ever all-private flight to the International Space Station successfully docked Saturday, kicking off a weeklong science mission 21 hours after the launch took place.

Docking was delayed by a glitch that obstructed the video feed used to monitor the connection, forcing the capsule to maintain its position 20 meters, or 66 feet, away from the orbiting research center for about 45 minutes until the problem was fixed.