Felix Baumgartner has taken history to new heights – literally.

The daredevil skydiver, 43, landed on the ground Sunday after a record-breaking jump from the edge of space about 128,000 feet – that's more than 24 miles – above the Earth, becoming the first person to break the sound barrier sans the safeguard of a vehicle.

Supported by NASA alum and aircraft designers from the Red Bull Stratos team, Baumgartner free-fell, at one point hitting Mach 1.24 – or 834 mph – before he opened his parachute and glided to safety in Roswell, N.M.

"He made it – tears of joy from Mission Control," his team said in a live feed.

His jump, however, was not the longest-lasting free fall, a distinction that still belongs to Col. Joe Kittinger, who jumped 102,800 feet in 1960 for a U.S. Air Force mission. Kittinger served as Baumgartner's mentor – the one he listened to through his headset as he redefined human limitation. (Baumgartner's free fall lasted 4 minutes and 20 seconds.)