"We have capture confirmed," a NASA commentator said, as the space station's robotic arm latched onto the gum-drop shaped spacecraft at 6:40 am (1040 GMT), at a moment when the spacecraft was over the southern part of the Democratic Republic of Congo.
Over the coming hours, the spacecraft will be brought closer and bolted onto the orbiting outpost. Astronauts will begin unpacking later Wednesday.
The cargo ship is carrying 5,800 pounds (2,600 kilograms) of food, supplies and science experiments to enable the study of thunderstorms, anti-cancer drugs, and technology to remove debris in orbit.
Both the Dragon cargo vessel and the Falcon 9 booster that launched in on Monday were flown to space before, marking the second time SpaceX has used a recycled spaceship and rocket to reach the ISS.
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