Reusable rockets have existed for decades. The space shuttle program used reusable rockets. The DCX was a rocket that controlled similar to the falcon 9 in the 90's. The problem is, both programs were shelved in favor of cheaper, unmanned, probe vehicles.
No, the shuttle rockets where expendable. The only reusable part was the shuttle itself and every launch was very expensive compared to SpaceX.
Do you have any source for the reusable rockets used in the space shuttle?
They were not expendable (although they could be). They were refurbished. However, because of splashdown, the damage from corrosion and the need to refurbish the rocket because it wasn't tanked, caused the cost to not be feasible.
