SpaceX's reusable rocket program aims to reduce the cost of space travel by making rockets that can land, refuel and refly, instead of being thrown away after every flight. Autonomous precision landing of a rocket is a unique problem, which has been likened to balancing a rubber broomstick on your hand in a windstorm. Rockets do not have wings (unlike airplanes) and they cannot rely on a high ballistic coefficient to fly in a straight line (unlike missiles). In the past two years, SpaceX has successfully landed nineteen rockets, some of which were on dry land at Cape Canaveral, and some of which were on floating platforms in the ocean. This talk will discuss the challenges involved, how these challenges were overcome, and next steps towards rapid reusability.