A SpaceX rocket carrying three paying customers and a former NASA astronaut took off from Kennedy Space Center in Florida on Friday morning

SpaceX  launched paying customers to the ISS.

kicking off a first-of-its-kind mission that will take the group on a 10-day mission to the International Space Station.

SpaceX  launched paying customers to the ISS.

The spacecraft, which separated from the rocket after reaching orbit, is now free flying through orbit and will spend all day Friday slowly maneuvering closer to the ISS,

SpaceX  launched paying customers to the ISS.

The trip was brokered by the Houston, Texas-based startup Axiom Space, which seeks to book rocket rides, provide all the necessary training,

SpaceX  launched paying customers to the ISS.

On board this mission, called AX-1, are Michael Lopez-Alegría, a former NASA astronaut turned Axiom employee who is commanding the mission;

SpaceX  launched paying customers to the ISS.

Israeli businessman Eytan Stibbe; Canadian investor Mark Pathy; and Ohio-based real estate magnate Larry Connor.

SpaceX  launched paying customers to the ISS.

Axiom previously disclosed a price of $55 million per seat for a 10-day trip to the ISS, but the company declined to comment on the financial terms for this specific mission

How much did this all cost?

beyond saying in a press conference last year that the price is in the "tens of millions."

How much did this all cost?