We present a detailed analysis of the voluntary take-off procedure of a dragonfly. The motions of the body and wings are recorded using two high-speed cameras at Beihang University. The experimental results show that the dragonfly becomes airborne after approximately one wingbeat and then leaves the ground. During this process, the maximum vertical acceleration could reach 20 m/s2. Evidence also shows that acceleration is generated only by the aerodynamic force induced by the flapping of wings. The dragonfly voluntary take-off procedure is divided into four phases with distinctive features. The variation in phase difference between the forewing and hindwing and angle of attack in the down-stroke are calculated to explain the different features of the four phases. In terms of the key parameters of flapping, the phase difference increases from approximately 0 to 110 degrees; the angle of attack in down-stroke reaches the maximum at first and then decreases in the following take-off procedure. Due to experimental limitations, 2-D simulations are conducted using the immersed boundary method. The results indicate that the phase difference and the angle of attack are highly correlated with the unsteady fluid field around the dragonfly's wings and body, which determines the generation of aerodynamic forces.