Space X plans on relaunching a rocket this fall. They plan on reusing the one which successfully landed on their drone ship on April 8.
If successful, this would be the first launch to orbit using a rocket flying for the second time. (The shuttle doesn't count - only the crew capsule was reusable and the actual rockets were disposable). They already have customers lined up willing to risk their payload for a chance to be part of history.
Reusable rockets would drop current payload to orbit costs by a factor of about 10.