Yengo National Park was an important spiritual and cultural place for the Darkinjung and Wonnarua People for thousands of years, and 640 Aboriginal cultural sites are recorded in the park and nearby areas. Being a largely untracked wilderness area, many of these are difficult to access. Yengo country has one of the largest collections of rock art in Australia (and the world), and Yengo is to the sandstone country what Uluru is to central Australia.

It is said that Baiame, the ancestral being, stepped off from Burragurra to the flat top of Mount Yengo and back into the sky when he finished his creation.

A spectacular Aboriginal rock art site in Yengo National in the lower Hunter Valley, Yengo 1 has over 500 motifs including stencils, paintings and engravings as well as engravings and axe grinding grooves.
Yengo 2 is a spectacular Aboriginal rock art site in Yengo National in the lower Hunter Valley. The shelter has 94 figures, including 40 stencils and many depictive motifs.
A long but very low shelter in the Big Yango Precinct, which contains 22 tally marks engraved in the sandstone.
The Big Yengo Tobacco Shelter is a large, deep overhang in Yengo National Park with Aboriginal rock art (charcoal drawing and hand stencils).
A small shelter along Big Yengo Creek, which has Aboriginal rock art including a star or starburst, and 16 stencils in white ochre.
Accessible by four-wheel drive (or by walking), this deeply spiritual site is located along the Boree track and includes the spirit footprints of Biame.
The signposted Finchley cultural walk provides access to the Finchley Aboriginal Site, considered one of the best Aboriginal engraving sites in Australia.
Three Aboriginal hand stencils (two of them quite weathered) in a shelter below Finchley Campground in Yengo National Park.
A long sandstone shelter in the MacDonald River area of Yengo NAtional Park, which has some weathered charcoal art.
A shelter with Aboriginal rock art in a gully near Jacks Track, which has over 50 motifs. They include drawings in charcoal, white and red ochre, and hand stencils.
An impressive Aboriginal rock art gallery in a tall but shallow shelter near Jacks Trail. Most of the art consists of charcoal figures, with some red ochure figures and faint hand stencils.
A complex Aboriginal art shelter in the Mellong Range, which has multiple stencils including hands and a boomerang and human figures in charcoal and white ochre.
Dark red ochre paintings preserved in two rock shelters on the south-eastern slopes of Mount Manning, in Yengo National Park.
A large dome-shaped rock near the base of Mount Yengo with emu tracks and some weathered Aboriginal engravings, and grinding grooves.
Very weathered Aboriginal hand stencil on the base of Mount Yengo.