Original: Voyager 1 was launched on September 5, 1977, by the National Aeronautics and Space Administration from Cape Canaveral, Florida aboard a Titan IIIE/Centaur carrier rocket, shortly after its twin space probe, Voyager 2 on August 20, 1977.
Simplified: Voyager 1 was launched on September 5, 1977 by NASA from Cape Canaveral aboard a Titan IIIE Centaur rocket, shortly after its sister craft, Voyager 2 on August 20, 1977.