Astronauts from America, Germany and Russia launched into space as a part of the Horizons Mission in a Soyuz rocket-you can watch the launch from inside and outside the rocket. This video from the European Space Agency gives you a real look at what the launch looks like. Notice the astronauts have brought some stuffed animals with them, you'll see them dangling from the "roof" of the capsule. One of them is the mascot for the 2018 World Cup-brought by the Russian astronaut, er, cosmonaut. You'll also see what it looks like when they drop different 'stages' of the rocket on their way, it's like they're hitting a speed bump. Very cool!
I'm claustrophobic, so I'll admit, just seeing these three packed into that capsule is making me really uncomfortable. I don't know if I could do that. Of course, no one has asked me to do that, so I'm probably safe.