The most successful video game console of all time first arrived 20 years ago this week – do you know which system it is?

The PlayStation 2 arrived in 2000, debuting first in Japan on March 4 before arriving in North America that October; this was a little more than a year after Sega’s Dreamcast and about a year before Microsoft’s Xbox and Nintendo’s GameCube. The latter two proved to be the biggest competition for Sony during this time (with Sega discontinuing the Dreamcast in 2001), and the year head start was valuable. The PS2 brought in $250 million on the first day of release, and after the Dreamcast’s demise it was the only console of its generation on the market for a full six months.

The PS2 offered backwards compatibility for both its predecessor’s games and controllers. It also functioned as a DVD player, giving it an edge on its competition. Though online functionality wasn’t originally a focus for Sony in this generation, after Xbox debuted its popular Xbox Live service, it was added into the PS2.

Like the original PlayStation, the PS2 received a slimmed down model, called the Slimline, beginning in 2004. The PS2 console became the bestselling video game console in history, with more than 155 million consoles sold. More than 3,800 different software titles were developed for the system, with more than 1.5 billion games sold.

Even after the PS3 debuted, the PS2 remained popular; the console wouldn’t be discontinued completely until 2013, after 13 years of production, which is one of the longest runs on a video game console ever.