Two American astronauts and one Russian cosmonaut boarded their Soyuz MS-06 landing craft for a homecoming Tuesday night, U.S. time, concluding 168 days in orbit. The trio undocked from the International Space Station at 5:08 p.m. EST (2208 GMT), and landed on the snowy steppe of Kazakhstan at 9:31 p.m. EST (0231 GMT Wednesday).

A video from SpaceX shows the company’s Crew Dragon capsule plunging toward the Gulf of Mexico, then unfurling a series of parachutes to slow the spaceship carrying two NASA astronauts from 350 mph to a relatively gentle 15 mph for splashdown Sunday.

Bill Shepherd, a former Navy SEAL-turned astronaut who arrived at the International Space Station 20 years ago Monday to begin the continuous occupancy of the orbiting research outpost, says the experience gained by NASA and its global partners over the last two decades provides a blueprint for missions to the moon, Mars, and beyond.