Boston ? A jetliner with a landing gear problem touched down safely at Logan International late Tuesday after circling the airport for about two hours.

Sparks could be seen coming from an area near the right landing gear as the aircraft landed just before 10 p.m., but the plane rolled to a stop without incident.

Midwest Airlines Flight 210 had 86 passengers and four crew members on board. Passengers remained on the jet as it was towed to a gate.

Air traffic controllers reported seeing sparks at the rear of the plane after it took off at about 8:15 p.m., bound for Milwaukee, said Laura Brown, a spokeswoman for the Federal Aviation Administration.

Carol Skornicka, a spokeswoman for Milwaukee-based Midwest, said the pilot noticed a problem with the right landing gear shortly after takeoff.

Midwest plans to investigate, she said, adding that federal authorities are also expected to investigate.