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 long shelter with Aboriginal rock art, including hand and arm stencils, and tally marks.
Aboriginal rock art comprising multiple weathered hand stencils and two white lines in a low shelter.
An interesting Aboriginal rock art site in Yengo NP, near Pademelon Road. The long shelter has both white stencils and red ochre drawings.
Two adjacent Aboriginal rock art shelters in Yengo National Park, which have hand stencils as well as figures drawn in charcoal, white and red ochre.
A rounded Aboriginal rock shelter in Yengo National Park near Pademelon Road. It has multiple hand stencils in white and red ochre, and some red ochre drawings.
A significant Aboriginal rock art site in the MacDonald River district, Spirits Cave was extensively documented by Ian Sim. The shelter contains 186 motifs, including multiple deity figures and what was thought to be a Rainbow Serpent.
Large Aboriginal rock shelter in the Big Yango Precinct, which has weathered charcoal drawings and two hand stencils.
Two adjacent shelters with Aboriginal rock art in a gully of Big Yengo Creek; they have weathered hand stencils and drawings.