19 June 2016 Last updated at 15:10 BST
Major Peake said his final goodbyes to the ISS, and joined two crewmates in the Soyuz capsule that carried them all back to Earth.
A super fast descent and a bumpy landing finally brought him home.
Martin's been looking at what happened, and how Tim's feeling now.
On Saturday, Tim Peake finished his six-month mission on the International Space Station, and landed back on Earth.