“This is the first image of Earth ever taken from another planet that actually shows our home as a planetary disk. Because Earth and the Moon are closer to the Sun than Mars, they exhibit phases, just as the Moon, Venus, and Mercury do when viewed from Earth. As seen from Mars by MGS [Mars Global Surveyor] on 8 May 2003 at 13:00 GMT (6:00 AM PDT), Earth and the Moon appeared in the evening sky.” And here’s Jupiter from the MGS:

NASA/JPL