A Russian Soyuz spacecraft carrying one of the world's most experienced space fliers, a rookie cosmonaut and a NASA shuttle veteran blasted off from the Baikonur Cosmodrome in Kazakhstan late Monday U.S. time, climbing away through a cloudless blue sky to kick off a two-day voyage to the International Space Station.

The Russian Soyuz TMA-04M spacecraft rumbled to life on time at 11:01:23 p.m EDT (GMT-4; 09:01:23 a.m. local time Tuesday), roughly the moment Earth's rotation carried the Site 1 launch pad into the plane of the space station's orbit.

"Everything's OK on board, we feel good," commander Gennady Padalka radioed as the rocket arced away to the East.

Padalka, who logged 586 days in orbit during a long-duration flight aboard the Russian Mir lab complex and two aboard the International Space Station, monitored the automated ascent from the central seat of the Soyuz TMA-04M's cramped command module. He was flanked on the left by Russian flight engineer Sergei Revin, a space rookie acting as co-pilot, and on the right by NASA educator-astronaut Joseph Acaba, veteran of a 2009 flight aboard the shuttle Discovery.

Acaba said before launch that he was looking forward to his first ride aboard a Soyuz spacecraft, adding that he was confident the Russian launcher would provide a safe ride following a string of recent problems with other Russian launchers and spacecraft.

"We should never fool ourselves that going into space is an easy thing and that it's without risk," he said in an interview. "(But) the Soyuz has been one of the most reliable vehicles we've had to take us into space. So I feel really good about riding on one, I feel comfortable with the analysis that was done. ... And I'm also very fortunate to fly with one of the most experienced cosmonauts on the planet. (Padalka is) very well trained and if we do experience any kind of problem, I feel confident as a crew that we'll be able to get back safely."

As he expected, the eight-minute 45-second climb to space went smoothly and Acaba and his crewmates appeared relaxed and in good spirits in live television shots from inside the cramped command module. Moments after separation from the Soyuz rocket's upper stage, the capsule's solar panels and antennas unfolded and Russian flight controllers said the vehicle was in good shape as it set off after the space station.

"Congratulations on the successful launch," a Russian flight controller radioed.

"Thank you very much," Padalka replied.

"Everything looks OK here on the ground, telemetry looks good. The ascent was nominal, so enjoy your work. We'll wish you best of luck."

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Next manned space launch safely takes flight to orbit