The mission, called Crew-2, involves US astronauts Shane Kimbrough and Megan McArthur, along with the Japan Aerospace Exploration Agency (JAXA)'s Akihiko Hoshide, and the European Space Agency (ESA)'s Thomas Pesquet.
The Soyuz descent module carring the trio landed upright after descending through a cloudless sky on a fine spring day in central Kazakhstan, a Roscosmos TV commentator confirmed.
The European Space Agency announced on Friday that they would be hiring differently-abled astronauts as well a few other para-astronauts in their agency.
Kimbrough encouraged everyone to live like an astronaut and "think about how to reuse and recycle as much as they can, to work together to ensure we live sustainably now and in the future."
Let not the seemingly boundless outer space engulf man of his limitations but let it be a means to help him understand and clasp to his bosom his and others’ limitations.
Their capsule streaked through the late night sky like a dazzling meteor before parachuting into the Gulf of Mexico off the coast of Pensacola, Florida. Recovery boats quickly moved in with spotlights.
The SpaceX-built launch vehicle, consisting of a Crew Dragon capsule and a two-stage Falcon 9 rocket, was launched from NASA's Kennedy Space Center in Florida at about 9pm (0200 GMT Thursday).
Two astronauts from the United Arab Emirates – Mohammad Al Mulla and Nora Al Matrooshi – will train with them, according to a report.
The SpaceX Crew Dragon capsule carrying three US NASA astronauts and a German astronaut from the European Space Agency undocked from the ISS shortly after 1 am EDT (0500 GMT) to embark on a return flight expected to last less than 24 hours.