After two days of weather-related delays, a Boeing Delta II rocket lifted the two rovers from the Earth on their way to Mars.

An article from SpaceToday.net points to a number of articles about today's launch.

As planned, the first rover (Spirit) separated from the launch vehicle's third stage soon after it took off. The second rover (Opportunity) will take off in a couple of weeks. Both should arrive at the red planet in January of 2004.

NASA has more information on the mission here.