The demonstration mission, called Demo-1, is the first flight test of a space system designed for humans built and operated by a U.S. commercial company through a public-private partnership.
The spacecraft will remain docked to the ISS for five days before departing on March 8. After undocking from the space station, Crew Dragon will begin its descent to Earth.
Hours later, crew members are expected to open the capsule's hatch and hold a welcome ceremony for the craft.
Rocketed into orbit early Saturday, the capsule carried a test dummy named Ripley -- after the heroine from the "Alien" movies -- and 150 pounds (about 181 kg) of supplies and experiments to the ISS.