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According to Scaled Composites, the concept for the program originated in April 1996, preliminary development began in 1999, and full development began in April 2001.

It was initially kept secret, even after White Knight first flew on August 1, 2002.

The program was announced to the public on April 18, 2003, when the program was ready to flight-test SpaceShipOne.

Its first flight test, SpaceShipOne flight 01C, took place on May 20, 2003.