In February 1606, Dutch navigator Willem Janszoon landed near the site of what is now Weipa, on the western shore of Cape York Peninsula.^[5] This was the first recorded landing of a European in Australia, and it also marked the first reported contact between European and Aboriginal Australian people.

Edmund Kennedy was the first European explorer to attempt an overland expedition of Cape York Peninsula. He had been second-in-command to Thomas Livingstone Mitchell in 1846 when the Barcoo River was encountered. The aim was to establish a route to the tip of the peninsula, where Sydney businessmen were attempting development of a port for trade with the East Indies.

The expedition set out from Rockingham Bay near the present town of Cardwell in May 1848, and it turned out to be one of the great disasters of Australian exploration. Of the thirteen men who set out, only three survived. The others died of fever or starvation, or were speared by hostile Aboriginal people. Kennedy died of spear wounds almost within sight of his destination in December 1848. The only survivor to complete the journey was Jackey Jackey, an Aboriginal man from New South Wales. He led a rescue party to the other two who had been unable to continue.

The tip of the peninsula (Cape York) was finally reached by Europeans in 1864 when the brothers Francis Lascelles (Frank) and Alexander William Jardine, along with eight companions, drove a mob of cattle from Rockhampton to the new settlement of Somerset (on Cape York) where the Jardines’ father was commander. En route they lost most of their horses, many of their stores and fought pitched battles with Aboriginal people, finally arriving in March 1865.