Almost 2,200 square kilometres of land has been handed back to Kuuku Ya'u and Uutaalnganu people under the first successful Native Title determination in the Cape York United #1 claim.
The claim is one of the largest in Australia, first filed on behalf of Cape York Traditional Owners in 2014.
The determination covers an area of land on the eastern side of the Cape in the Lockhart River coastal region.
For Elders like Father Brian Claudie, Thursday's successful determination has been many years in the making.
“I’ve been waiting for so long, maybe 30 or 40 years," he said.
“I was 19 years old when I stood up first helping the old people. I think I am the only one who sings and speaks the language now. I’m still doing that. I’m a language man.
“This claim is special for this generation.”
Uutaalnganu Traditional Owner Beatrice Hobson also expressed her delight at finally getting the land back.

80 year old Beatrice Hobson dances with Solomon Accoom outside Cairns Supreme Court following the determination Source: Supplied: CYLC
"My people, they was worrying for a long time to get their land back - so we got it, hey we got it," she said.
"...I was worrying about my people (being able) to go back and sit down here, out in the outstation, out in their own Country and look after it, because this is our mother's land.
"We want to keep our land safe."
Father Brian, who is now 71, is a senior Kanthanampu Elder of the Kuuku Ya’u Native Title Group.
He said the determination area includes sacred sites, and will be a place that young people can learn about culture.
“It’s going to be really important," he said.
"It’s very important for the future children, generation to generation to generation.”
Dancing broke out after the determination was heard, with Traditional Owners joyous at this first win in a long-fought battle.
Cape York Land Council chair Richie Ah Mat said it was a proud day.

The next generation were very much at the centre of the celebrations. From left, Jermaine Kennell, Jared Butcher and Noah Accoom. Source: Supplied: CYLC
"Their battle began in 1997 and 1998 when Kuuku Ya'u and Uutaalnganu Traditional Owners fought for recognition of their traditional rights in earlier native title and land claims," he said.
"I am awed by the efforts and resilience of today's successful claimants and pay tribute to the struggles of their Elders.
"The rewards are finally theirs."