SpaceX's Falcon 1 has made it into space on the company's fourth attempt. From Wired Science:
After three failed launches, the company founded by Elon Musk worked all of the bugs out of their Falcon 1 launch vehicles. As the rocket ascended, cheers rang out during every crucial stage of the launch sequence, and now, their headquarters in Hawthorne, California has erupted in excitement. The most tense moment came just before stage separation. At that critical moment, the third launch attempt had failed. This time, it worked out perfectly.
SpaceX Did It -- Falcon 1 Made it to Space! [Wired Science]
Update: Here's video from the rocket itself on launch. The cheers from the SpaceX team gives me goosebumps. – Joel