Return trip
The crew waited until the Orion IPS passed overhead and then fired the Orion thrusters, against which Minmus' feeble gravity could do little.
The crew soon rendezvoused with the IPS.
Duet to the placement of Orion's engines, docking with the IPS demands a greater precision than that which was needed for the Apollo lunar and command modules.
Still, this was no problem for Jeb's flying skills.
After the escape burn, the kerbonauts left Kerbin's smaller moon behind.
Another three days later and their homeworld's surface was in sight.
Before reentry, and because the IPS still had a lot of fuel left, mission control considered the possibility of leaving the IPS in Kerbin orbit instead of having it burn up on reentry. Another Orion spacecraft could rendezvous on a future launch and then dock with Space Station One for refuelling.
Unfortunately, the few dozen hours left before reentry were insufficient for engineers to redesign the mission profile, especially since the IPS has no remote control unit. So the mission ended as it was intended: with the atmospheric reentry of both the Orion spacecraft and the IPS.
The main parachute was deployed and the Orion spacecraft landed on Kerbin's surface successfully.
Another mission accomplished!
< Surface