Did 9/11 happen and were the planes really hijacked and crashed into buildings?

Specifically, im curious like many people if the four planes out of boston, newark, and dulles really were overtaken and charged by al qaeda hijackers. There are audio transcripts of a pilot on flight 93 saying "get out of here, get out of here". Pengers told loved ones what was happening. Its a mystery well never know the answer to, but it shocks me to think the inexpierenced hijacker flying the planes could make the maneuvers they made. Please tell me what you think happened on the planes!