It was a flawless flight after a short hold at 15 minutes. Blue Origin hurled into space with Strahan and 4 other astronauts on board, including Laura Shepard Churchley, the oldest daughter of America's first astronaut, Alan Shepard.

The capsule was atop the New Shepard rocket ... named, of course, after Alan.

When they experienced weightlessness, the astronauts were giddy with excitement ... you can hear the joy as they floated in space.

The New Shepard rocket was originally supposed to take off for the 10-minute flight on Thursday but Bezos gave it the yellow light, due to high wind.

This Blue Origin flight is the third launch with people on board. Astronaut Strahan and others had lots of training before they boarded. The TV host says he went to the Blue Origin facility for a week-and-a-half training prior to today's launch.

If taking a trip to space isn't already a good enough incentive, apparently all passengers get some sort of stipend... and Strahan says he is donating his to The Boys & Girls Club.