Systems and methods using VTOL (vertical take-off and landing) aircrafts including drones and helicopters for soft capture, preserving, and landing of a returning spacecraft from space are disclosed. The spacecraft is decelerated by parachutes. One or multiple VTOL drones transport a water impermeable pocket meeting and capturing the descending spacecraft in the air. The spacecraft is thus preserved inside the pocket and keeps descending and then softly lands in a body of water. In another embodiment, a recovery helicopter, one type of VTOL aircraft with heavy payload lifting capacity, is used to directly catch the returning spacecraft. One or multiple VTOL drones are coupled to the bottom end of a recovery cable hung from the helicopter. These drones bring a clutch quickly and precisely catching the descending spacecraft directly without interrupting the parachutes. The spacecraft is thus caught and preserved by the helicopter with lifting function of the parachutes maintained.