Shenzhou-9 docks with Tiangong-1
The coupling of the vehicles occurred just after 14:00 Beijing time (06:00 GMT; 07:00 BST) over China itself.
The latest Shenzhou mission was launched on Saturday, taking the nation's first female astronaut into orbit.
Thirty-three-year old Liu Yang flies with Commander Jing Haipeng, 46, and fellow flight engineer, Liu Wang, 42.
It is China's fourth manned mission and another opportunity to see how far the Asian nation has developed its space technology.