The trip to tinker with the ISS initially would take about 6.5 hours, reports NASA.
According to the space agency both astronauts were no time in danger.
The two astronauts, the Briton Tim Peake and American Timothy Kopra, sit half a year in space. In December the two together with Russian cosmonaut Yuri Malenchenko launched from Kazakhstan.
Video: Astronaut Tim Peake makes historic spacewalk
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