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The European Space Agency's mission control centre broadcast live as Rosetta matched the speed of Comet 67P/Churyumov-Gerasimenko and was put into its orbit at a distance of about 100 kilometers (62 miles).
"After 10 years, five months and four days travelling towards our destination, looping around the Sun five times and clocking up 6.4 billion kilometers, we are delighted to announce finally 'we are here'," Jean-Jacques Dordain, ESA's Director General, said in a statement published on the agency's website.
Rosetta will follow the comet for more than a year to provide a detailed scientific study of the Solar System body.