With the mission - their 17th launch of 2017 - SpaceX is hoping to achieve another historical milestone by simultaneously using a rocket and spacecraft that have both served in previous flights.
It was one of the Elon Musk-founded company's most attractive landings to date, taking place in clear blue skies at SpaceX's Landing Zone-1 back on land in Cape Canaveral, Florida.
After launch at 10:36 Florida time, SpaceX successfully brought its used Falcon 9 rocket down to the company's ground-based Landing Zone 1 at Cape Canaveral.
SpaceX has now managed to return 20 of its rocket boosters after launch, whether on land or on a floating ocean platform, as part of its effort to re-use instead of jettison costly components.
SpaceX used a previously flown rocket and spacecraft to launch supplies for NASA to the International Space Station on Friday morning, marking the first time the space agency - or any USA government agency - used one of the Hawthorne company's used rocket boosters.
The launch was originally planned on Tuesday but was first postponed until Wednesday, then until Friday morning.
But the launch was "still a unsafe business", he said, and although the Falcon 9 has been extensively inspected by NASA's experts, there is never "zero risk" when it comes to rocket launches.
The crewmembers on ISS will use a 57.7-foot robotic arm to reach out and capture the Dragon spacecraft and attach it to the station on December 17.
For space nerds, there's nothing better than a rocket landing.
"This is the beginning of rapid and reliable reusability", said SpaceX Dragon mission manager Jessica Jensen, at a press briefing Monday. This was the 14th landing SpaceX has pulled off this year, and the second time this particular vehicle has landed following take off. NASA's International Space Station manager, Kirk Shireman, says the risk of launching a recycled rocket is about the same as for a brand new one. "The net result is about equivalent risk".
The unmanned spaceship is packed with 4,800 pounds (2,200 kilograms) of food, supplies and experiments - including one to study thyroid cancer and another to grow barley in space.
The Dragon is scheduled to arrive at the ISS on Sunday.