The Navy says a team boarded and took control of a tanker ship Sunday night that had been seized by armed Libyan pirates.
The Morning Glory had reportedly been under siege since earlier this month.
The Defense Department says the Libyan government requested help, and President Obama approved the mission.
The ship was carrying oil owned by the Libyan government.
The USS Roosevelt helped with the mission along with the Norfolk-based USS Stout.
The Morning Glory is on its way back to a port in Libya with a team of sailors from the USS Stout.