I watched the second video. When I saw the launch rocket flip around and use its propulsion to come to a graceful, upright landing, my jaw dropped. That's sim

I watched the second video. When I saw the launch rocket flip around and use its propulsion to come to a graceful, upright landing, my jaw dropped. That's simply not what rockets do in my lifetime of casual observation. Is it really possible to store enough propellant to boost the upper stages into space, and still provide a cushioned landing? Is that really doable?