# KeyFrame object

I'm doing an assignment on a 20 second animation. so far I have a car that's driving for the first 10 seconds and then I have built a rocket (Which I am stuck on). The way I want it to be done is that the car drives for the ten seconds and then the rocket lifts on just as the car stops. Is there any way I can set a specific keyframe for when the rocket can follow the path it it supposed to go?