The first stage of the SpaceX Dragon has successfully landed on a barge for the first time. The experimental landing was not the primary goal of the mission, which is taking supplies and experiments (including the Bigelow inflatable module) to the International Space Station. Ars Technica covered the launch, and a live stream was available on YouTube.
Ars Technica: http://arstechnica.com/science/2016/04/watch-live-spacex-to-launch-hopefully-land-its-rocket-today/ [arstechnica.com]
YouTube Stream: https://www.youtube.com/watch?v=7pUAydjne5M [youtube.com]
Ars Technica's story about the Bigelow module, for the curious: http://arstechnica.com/science/2016/03/heres-why-the-next-spacex-launch-isnt-just-about-the-booster-landing/ [arstechnica.com]