SpaceX Inspiration4 Launch 2021-09-15

This is the first all-civilian rocket launch in history!

The rocket was high enough to be lit by the sun, so it was more spectacular than usual. The first stage can be seen trailing behind, sending out puffs from it's cold gas thrusters to reorient for landing.
After the second stage disappears behind the big cloud near the center, the first stage can be seen re-appearing (at 2:29) from behind the clouds and falling, until it disappears in the Earth's shadow.