Gayle King also got on her knees and kissed the ground.
"I just want to have a moment with the ground, just appreciate the ground for just a second," she said.
The last to get out, Kerianne Flynn, pointed at the sky and shouted: "I went to space."
A celebrity cast had watched the launch from the ground.
Speaking from the viewing platform, Khloé Kardashian said: "I didn't realise how emotional it would be, it's hard to explain. I have all this adrenaline and I'm just standing here."
"Whatever you dream of is in our reach, especially in today's day and age. Dream big, wish for the stars—and one day, you could maybe be amongst them," she added.
Oprah Winfrey spoke about her friend Gayle King, and revealed she was a nervous flier.
"I mean, for her—whew—anytime we're on a flight, she's in somebody's lap at the slightest bit of turbulence. She has real, real-world anxiety when it comes to flying. And this... this is her overcoming a wall of fear," she said.
The spacecraft was fully autonomous, requiring no pilots, and the crew did not manually operate the vehicle.
The last all-female spaceflight was over 60 years ago when Soviet Cosmonaut Valentina Tereshkova became the first woman to travel into space on a solo mission aboard the spacecraft Vostok 6.
Since then, there have been no other all-female spaceflights but women have made numerous significant contributions.
The space tourism industry is still in its infancy, so every successful launch is significant and demonstrates that these short, commercial flights can be carried out safely.