NASA astronauts Barry "Butch" Wilmore and Suni Williams, who had been stuck in space for more than nine months, returned to Earth on Tuesday.

The SpaceX capsule streaked through the atmosphere before deploying parachutes for a gentle splashdown off the Florida's coast later on Tuesday at 5:57 p.m. ET.

Ground teams erupted in cheers as the spacecraft bobbed steadily on the waves of the Gulf of Mexico after its 17-hour trip to earth from the International Space Station.

The crew, which also includes astronauts Nick Hague from the US and Aleksandr Gorbunov from Russia, will be flown to NASA's Space Center in Houston for health checks.

NASA astronauts finally leave space station

Live footage showed the astronauts laughing, hugging and posing for photos with their colleagues from the station before they left the ISS.

They were then sealed inside the capsule, wearing their re-entry suits, boots and helmets, for two hours while final pressure, communications and seal tests were carried out.

 The four-person crew is formally a part of NASA's Crew-9 astronaut rotation mission.

"Crew-9 is going home," said commander Nick Hague from inside the capsule.

Hague said it was a privilege to "call the station home" as part of an international effort for the "benefit of humanity."

Prolonged mission turned into political spectacle

The two veteran NASA astronauts and retired US Navy test pilots were sent into space as Starliner's first crew in June. 

There mission was initially supposed to last just a few days.

However, problems with the Starliner's propulsion system led to multiple delays in their return home which led NASA to decide that they would return to Earth in a SpaceX craft.

Willmore and Williams's stay in space exceeded the standard six-month long ISS rotation.

The delay in the mission spotlighted NASA's contingency planning as well as the failures of Boeing's Starliner spacecraft.

The mission even gained political attention with US President Donald Trump calling for a quicker return of the astronauts and alleging that former President Joe Biden "abandoned" them on the ISS for political reasons.

Edited by: Alex Berry, Wesley Dockery