Tim Peake stepped out in to space from his base on board the International Space Station. It was his first spacewalk since joining the crew of the ISS in December, and the first ever spacewalk by an official British astronaut.
Major Peake and his colleague, Tim Kopra, were trying to repair a power unit on the outside of the station.
Spacewalks are a routine part of life on board the ISS. They are usually carried out to complete repairs or gather material for experiments.
Here's how the action unfolded.
6.05pm Mission complete: Both astronauts are safely back inside the ISS
Tim Peake and Tim Kopra are both safely back inside the ISS and are being helped out of their spacesuits.
Their successful spacewalk lasted four hours and 45 minutes.
5.02pm The spacewalk comes to an end
After Tim Kopra reports a small bubble of water inside his helmet the decision is made to end the spacewalk early. Nasa say they are happy that the main task has been successfully completed.
Both astronauts are safe as they make their way back to the airlock to re-join the ISS.
Once inside, the airlock will need to re-pressurise before they can remove their spacesuits.
4.20pm Praise for good work
The team at Nasa mission control congratulate both the astronauts on doing such a good job, saying "we'll buy you a soda when you get home".
3.23pm View of Tim Peake moving along the outside of ISS
A great view can be seen of Tim Peake as he moves along the ISS high above the Earth. He is heading back to the airlock to stow some tools.
3.14pm Work is ahead of schedule
Tim Peake and his fellow astronaut, Tim Kopra, are working 10 minutes ahead of schedule.
If they manage to get their work completed, with time to spare, then they are given extra tasks to complete.
2.37pm Work begins repairing the solar panels
Tim Peake and his colleague Tim Kopra have started work in outer space repairing the solar panels.
The pictures are dark as the astronauts had to wait for the sun to move out of range before they started work on the solar panels.
Tim has to report what he sees and the status of how the repairs are going back to Nasa control in America.
2.15pm Tim appears to be taking a selfie in outer space
Footage from Tim's helmet camera showed him getting a special camera out of his kit.
He seemed to be taking a selfie.
1.52pm First shots from Tim Peake's helmet camera
Tim has a camera mounted on the helmet of his spacesuit which is sending video of the repairs he is doing back to earth.
You can see astronaut Tim Kopra in the top right of the video.
1.50pm Major Peake has untangled his tether and joined Tim Kopra
After the tether keeping Major Tim Peake attached to the International Space Station became tangled, he is now fixed the problem and is making his way to join Tim Kopra.
1.45pm Tim Peake's colleague, Tim Kopra, is checking his tools and getting ready to start repairs
The earth can be seen behind the ISS in these pictures which come from a camera in Tim Kopra's helmet.
While Tim Kopra checks his tools, Tim Peake has been delayed because the tether, which keeps him attached to the Space Station, has become caught.
Tim will need to untangle his tether before he can continue.
1.25pm Tim is moving away from the airlock along the outside of the ISS
Tim has moved away from the airlock area outside the ISS to make his way to the area in need of repair.
1.04pm Tim Peake has stepped out to space
Tim has stepped out of the airlock to do his first spacewalk.
The astronaut said it felt great to be wearing the Union Jack flag.
His spacewalk is expected to last six hours.
Major Peake and his colleague Tim Kopra are mending a power unit.
1.00pm Tim Kopra steps out
Tim's colleague Tim Kopra has stepped out of the airlock first
12.55pm Final checks completed
Tim and his colleague Tim Kopra complete final checks on their equipment in the airlock before stepping in to space
12.00pm Peake is in the airlock
Tim Peake has been manoeuvred into the airlock by Scott Kelly and Sergei Volkov. Ignore the stars and stripes on the back of Peake's spacesuit, it's shared equipment.
11.50am Peake is in his spacesuit
Tim Peake is in his spacesuit on board the ISS. His colleague, Tim Kopra, is already in the airlock and they're about to fit Peake's suit with more equipment before he joins Kopra in the airlock.