In 2010, Falcon 9 Flight 1, the maiden flight of the SpaceX Falcon 9 rocket, was launched from Cape Canaveral Air Force Station Space Launch Complex 40.
The first flight launched a stripped-down version of the Dragon capsule. It was not designed to survive re-entry, and did not. The Dragon spacecraft recently successfully delivered supplies to the International Space Station.
Learn more at http://en.wikipedia.org/wiki/Dragon_(spacecraft)