Watch the video of the launch at the here. (If you'd like to skip ahead to the very moment the rocket lifts off, you can find it about 29:50 into the video.)
Not long after the massive craft blasted off NASA's historic Launch Pad 39A, arcing a fiery path through the sky, its side boosters fell away. As the main rocket continued its journey into space, two of the boosters returned to Earth, landing successfully back on their designated pads.