Privately funded rocket Falcon from SpaceX achieved orbit on it's fourth try on September 28th, 2008. This 10 minute long video shows the accent from on-board cameras. Watching as the first stage separates (approx. 2:40 into the flight) you can feel the excitement of the team. Another thing I really hadn't thought about was that the rockets acceleration is greatest near the end of the burn when all the weight of the fuel is burned off. Congratulations on a successful launch.