SpaceX has inked its first deal to launch space tourists into orbit on a Crew Dragon spacecraft.

The company founded by billionaire Elon Musk has signed an agreement with the U.S. space tourism company Space Adventures to launch up to four passengers on an orbital trip aboard a Crew Dragon space capsule. The mission would last up to five days and could launch as early as late 2021, according to Space Adventures.

"This historic mission will forge a path to making spaceflight possible for all people who dream of it, and we are pleased to work with the Space Adventures team on the mission," SpaceX President and COO Gwynne Shotwell said in a statement from Space Adventures.

Space Adventures will use a SpaceX Falcon 9 rocket and Crew Dragon vehicle to fly up to four passengers to Earth orbit.

SpaceX or Space Adventures did not announce exact pricing for the Crew Dragon tourist flight, but the cost per seat is expected to be in the same range of other commercial spaceflight opportunities.

Meanwhile, Space Adventures is also working with Roscosmos to fly two space tourists to the International Space Station on a dedicated Soyuz spacecraft in 2021. Roscosmos announced the agreement with Space Adventures last year.