Elon Musk may have been getting all the publicity about his attempts to land a Falcon 9 first stage (all of which have so far ended in close-but-kerboom) but that other dot-com billionaire Jeff Bezos seems to have beaten him to it in terms of soft-landing a booster that got into space:
Blue Origin First Successful Landing
This video released today is a mix of flight footage from yesterday and simulation, but it does show flight, separation of the capsule, parachute recovery of the capsule and vertical rocket landing of the booster itself. (Warning: very cheesy music, but I suppose if you've flown your own rocketship you get to choose the soundtrack.)