Cheers erupted from inside SpaceX Mission Control as the rocket took off, followed by more applause a minute or two later, as the rocket reached orbit.
The mood was likely particularly high as SpaceX hasn't launched from Florida since last September, when its Falcon 9 rocket, which was expected to send a satellite up into orbit, exploded on pad LC40.
The pad was so badly damaged that it was still unavailable for this launch - hence the use of the historic moon pad.
The feat of landing the rocket safely for recycling has been accomplished only twice before - previously on floating ocean platforms - but SpaceX hopes to make it regular practice, rather than jettisoning single-use rockets into the ocean.