Giffords landed without any injury Wednesday afternoon at a skydiving site between Phoenix and Tucson.
After completing her landing, Giffords blew kisses and waved to a crowd of reporters. She described the jump as a wonderful experience.
Six people were killed and 13 wounded when a gunman opened fire Jan. 8, 2011, at a meet-and-greet event held by Giffords.
Residents in Tucson marked the day with a bell-ringing ceremony and a moment of silence.