The Experimental Delta Clipper (DC-X) of the 1990s was canceled before it ever made it into space.
The Rotary Rocket Company’s incredibly innovative Roton was designed to land with helicopter blades instead of a parachute or a landing rocket. After the collapse of the small telecommunications satellite market in 1999 the company went out of business without ever building their unique spinning aerospike main engine; without a clear mission, investors were unwilling to fund the various exotic technologies that the company was successfully pioneering.
In 2013 SpaceX’s series of “grasshopper tests” picked up where the DC-X left off.
https://www.youtube.com/watch?v=ZwwS4YOTbbw
But SpaceX’s plan to land their Falcon 9 lifter on a seagoing barge has not yet succeeded.
And bringing us up to date, Blue Origin landed the New Shepard on the 23rd. I love the final replay of the landing sequence!
https://www.youtube.com/watch?v=9pillaOxGCo