Shuttle Endeavour docks with ISS
Nasa engineers were watching the operation carefully to see whether the pieces of foam that fell off the craft during take-off have caused any damage.
A preliminary inspection showed that the orbiter was unscathed by the incident.
The crew made up of seven austronauts including school-teacher Barbara Morgan is to upgrade the station and conduct three spacewalks.
New equipment will make it possible to receive power direct from the orbital station for the first time. It will allow shuttle crews to remain in orbit longer.