The Orbital Sciences Antares rocket launched Sunday from the Wallops Flight Facility in Virginia after a one-day delay, NASA said.
The 13-story rocket, which is carrying the Cygnus cargo capsule to the International Space Station, took off at 12:52 p.m. local time.
The rocket is transporting about 3,300 pounds of supplies to the International Space Station, including space parts, crew provisions and science experiments for the Expedition 40 crew.
The rocket was originally slated to launch Saturday, but poor weather conditions pushed that back to Sunday.
Should all go according to plan, the rocket is expected to rendezvous with the ISS on Wednesday.