Yes, "Celestia" is great. It used to be called "Open Universe"
If you want to see something cool:
Set it to show galaxys.
Orient the camera so that you can see the Earth, with the Milky-Way
in the background.
The home/end keys will zoom in or out, hold the one that zooms out
and watch yourself leave the Galaxy! It will give you some perspective.
I hope I don't get a finger wagged at me for mentioning a Win32 program,
but if you want a good intro to how things work in space, give this a try:
http://orbit.medphys.ucl.ac.uk/orbit.html
BEWARE!, It's complicated and addictive!
I've almost gotten it running under wine, but there are DirectX issues.