Atlantis will carry four astronauts during the 12-day mission, bring supplies and spare parts to the International Space Station and conduct an experiment to test new refueling and repair technology for satellites in orbit, after which it will return to Earth and retire.
If you've missed the live stream of the launch, you can see it in the archived video below. The actual liftoff starts somewhere around 18:00 in the video.
Photos from the Final Atlantis Flight
Stay tuned. We'll keep updating this gallery with new photos.
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BONUS: Amazing Photographs From Endeavour's Last Voyage
NASA recently released these breathtaking images from the last voyage of Endeavour following its return from space last month. Until October 2010, it was believed that the Endeavour mission would be the last space shuttle flight -- now Atlantis is set to take that honor.