The astronauts wrapped their spacewalk at 3:01 p.m. EST, according to NASA's Twitter feed, which also live streamed the event.
Hopkins and Glover captured video of the walk using helmet cameras, allowing the public to see from their perspective.
The astronauts were scheduled to conduct space-based maintenance on the orbiting platform, including connecting power cables for the new European science platform, Bortolomeo.
Glover and Hopkins attempted to connect the cables in January but couldn't due to a mechanical issue.
The walk began as scheduled at 8:14 a.m.
According to NASA, on Saturday, the astronauts vented two jumpers on the early ammonia system and relocated one more; replaced a wireless video system external transceiver assembly; connected three jumpers on the Bartolomeo platform; and capped one other.
The expedition was Glover's fourth spacewalk and Hopkins' fifth.
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