Mitsubishi Heavy Industries, Ltd. and the Japan Aerospace Exploration Agency (JAXA) launched the Lunar Orbit Explorer "KAGUYA" (SELENE) by the H-IIA Launch Vehicle No. 13 (H-IIA F13) at 10:31:01 a.m. on September 14, 2007 (Japan Standard Time, JST) from the Tanegashima Space Center.
The launch vehicle flew smoothly, and, at about 45 minutes and 34 seconds after liftoff, the separation of the KAGUYA was confirmed.
Read the press release here (in English)and here (in Japanese).
The JAXA site also has a page, Space Station Kids, where you can find out what it's like living on a space station, and a photo and video archive page with some great videos and photos.