The first historical contact between the Yawalapiti and Europeans occurred in 1887, when they had been visited by Karl von den Steinen's expedition. In this period, they were located in the high course of the Tuatuari river, in a region between lagoons and quagmires identified by the Yawalapiti as a small farm. The German anthropologist's impression of these Indians was that of poverty, a people who had insufficient food to offer visitors.
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Given the extensive and complicated history of human migration within Africa, being the "first peoples in a land" is not a necessary precondition for acceptance as an indigenous people. Rather, indigenous identity relates more to a set of characteristics and practices than priority of arrival. For example, several populations of nomadic peoples such as the Tuareg of the Sahara and Sahel regions now inhabit areas where they arrived comparatively recently; their claim to indigenous status (endorsed by the African Commission on Human and Peoples' Rights) is based on their marginalization as nomadic peoples in states and territories dominated by sedentary agricultural peoples.