Soon after touchdown, Blue Origin tweeted some statistics about the launch.

The NS-18 capsule carrying Shatner and the other three astronauts reached a height of 347,539 feet above ground level. The maximum velocity was 2,235 mph.

-ABC News' Ayushi Agarwal

"Welcome to a very small club," Bezos told the four new astronauts as he fastened pins on their suits.

"Oops, this one is bent," Bezos said as he tried to pin one on Shatner. "So am I," Shatner joked back.

-ABC News' Ayushi Agarwal

Jeff Bezos, Blue Origin's founder, joined friends and family as they greeted the astronauts who exited the capsule one by one.

Bezos sprayed bottles of champagne to celebrate the safe and historic launch.

"Everybody in the world needs to do this," Shatner, who was overcome with emotion, told Bezos.

"It was so moving. This experience has been something unbelievable," he said. "The blue down there, the black up there."

"You have done something," Shatner said to Bezos. "What you have given me is the most profound experience. I am so filled with emotion."

He went on, "I hope that I can maintain what I feel now. I don't want to lose it. I am overwhelmed."

As for the camaraderie with the crew, the actor said, "It's like being in battle together."

The newest astronauts touched down safely at about 11 a.m. ET.

This was the second crewed flight for Blue Origin.