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| Tim Peake begins stay on international space station | |
| (35 minutes later) | |
| UK astronaut Tim Peake has boarded the International Space Station, which will be his home for the next six months. | |
| "Major Tim", and fellow crew members Yuri Malenchenko and Tim Kopra floated through the hatch from their Soyuz space capsule, where they were greeted by the current ISS astronauts. | |
| The three new crew arrived at the space platform following a six-hour journey after blast-off from Kazakhstan. | |
| Earlier, the Russian commander had to steer the craft to dock with the ISS. | |
| It followed complications with the usual automatic docking procedure. | |
| Tim Peake Live: latest updates and video from the launch | Tim Peake Live: latest updates and video from the launch |
| The seven Britons who have been to space | The seven Britons who have been to space |
| Tim Peake: Space launch in pictures | Tim Peake: Space launch in pictures |
| Mr Peake is making history as the first official UK astronaut. | |
| Speaking from the ISS he said: "It was a beautiful launch. That first sunrise was absolutely spectacular." | |
| At the scene: Paul Rincon, Science editor, BBC News online | At the scene: Paul Rincon, Science editor, BBC News online |
| It's a rare event for the Soyuz crew to have to manually dock the spacecraft at the space station. | It's a rare event for the Soyuz crew to have to manually dock the spacecraft at the space station. |
| The Kurs radar system that failed is one of the two main ways controllers have of determining where the Soyuz is relative to the space station. | The Kurs radar system that failed is one of the two main ways controllers have of determining where the Soyuz is relative to the space station. |
| The other is measurements taken from the ground. | The other is measurements taken from the ground. |
| The immense skill required to manually dock the capsule in open space is exactly why Tim and the other crew members undergo such rigorous training for a range of different failure scenarios. | The immense skill required to manually dock the capsule in open space is exactly why Tim and the other crew members undergo such rigorous training for a range of different failure scenarios. |
| He was waved off by his wife and two sons at the Baikonur Cosmodrome in Kazakhstan earlier on Tuesday. | |
| The launch was from the same place where Yuri Gagarin became the first human in space in 1961. | |
| There were no reported problems during the blast-off. | |
| However, docking with the space station - which is regarded as one of the most difficult stages of the journey - did not go entirely to plan. | |
| The Russian commander had to steer the spacecraft in manually about 10 minutes after its scheduled docking time of 17:24 GMT. | |
| "Feeling relieved" | |
| Mr Peake's mother, Angela, who was watching the docking live from a cinema near the launch site, said: "I'm feeling relieved. I wasn't really tense, I just feel quite reassured by those around me - they have a lot of experience." | Mr Peake's mother, Angela, who was watching the docking live from a cinema near the launch site, said: "I'm feeling relieved. I wasn't really tense, I just feel quite reassured by those around me - they have a lot of experience." |
| Speaking before the launch, Mr Peake said: "Any time two vehicles come in close proximity in space is hazardous. | Speaking before the launch, Mr Peake said: "Any time two vehicles come in close proximity in space is hazardous. |
| "The docking needs to be closely monitored and you have to make sure you're on target and on speed." | "The docking needs to be closely monitored and you have to make sure you're on target and on speed." |
| It takes four orbits of Earth and about six hours to reach the ISS. | It takes four orbits of Earth and about six hours to reach the ISS. |
| Having arrived safely, the team had to wait for more than two hours to leave the capsule, as they carried out routine safety checks and waited for air pressures to stabilise. | |
| In their new home, the crew will work, sleep and exercise in a dozen modules, together about the same volume as two Boeing 747s. | |
| The three crew members join the existing taskforce on board the ISS - Nasa astronaut Scott Kelly and Russian cosmonauts Mikhail Kornienko and Sergey Volkov. | |
| Mr Kelly and Mr Kornienko are approaching the ninth month of their one-year ISS mission. | Mr Kelly and Mr Kornienko are approaching the ninth month of their one-year ISS mission. |
| A maximum of 10 crew members can live on the station. | A maximum of 10 crew members can live on the station. |
| Emotional farewell | Emotional farewell |
| Mr Peake will spend six months on board the ISS where he will conduct scientific experiments and carry out educational projects designed to attract young people into science. | Mr Peake will spend six months on board the ISS where he will conduct scientific experiments and carry out educational projects designed to attract young people into science. |
| Earlier, he said goodbye to his family and friends including his wife, Rebecca, and two sons, Thomas, six, and Oliver, four. | Earlier, he said goodbye to his family and friends including his wife, Rebecca, and two sons, Thomas, six, and Oliver, four. |
| Sitting on the shoulders of his grandfather, Tim's youngest son cried loudly, saying: "I want to go with Daddy." | Sitting on the shoulders of his grandfather, Tim's youngest son cried loudly, saying: "I want to go with Daddy." |
| After the craft entered orbit, relatives and friends cheered and hugged. | After the craft entered orbit, relatives and friends cheered and hugged. |
| Mr Peake's wife Rebecca was heard to say: "Wasn't it an amazing sight? I had the biggest smile on my face." | Mr Peake's wife Rebecca was heard to say: "Wasn't it an amazing sight? I had the biggest smile on my face." |
| The former Army major is the first Briton to join the crew of the ISS and is employed by the European Space Agency. | |
| Helen Sharman became the first British citizen to travel to space when she visited the Soviet space station Mir in 1991. | Helen Sharman became the first British citizen to travel to space when she visited the Soviet space station Mir in 1991. |
| Earlier, Ms Sharman told BBC News: "Tim has trained for six years, so he will know the spacecraft and the space station inside out. | Earlier, Ms Sharman told BBC News: "Tim has trained for six years, so he will know the spacecraft and the space station inside out. |
| "Whatever situation is thrown at him, he'll be well equipped to deal with it." | "Whatever situation is thrown at him, he'll be well equipped to deal with it." |
| Other Britons who have flown into space have done so either as private individuals or by taking US citizenship. | |
| Tim Peake in space: Want to know more? | Tim Peake in space: Want to know more? |
| Special report page: For the latest news, analysis and video | Special report page: For the latest news, analysis and video |
| Video: How the view from space affects your mind | Video: How the view from space affects your mind |
| Explainer: The journey into space | Explainer: The journey into space |
| Social media: Twitter looks ahead to lift-off | Social media: Twitter looks ahead to lift-off |