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.

Well-preserved red ochre paintings in two rock shelters on the south-eastern slopes of Mount Manning, in Yengo National Park. The 45 motifs include horned anthropomorphs, echidnas and dingoes.
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.
A long shelter with Aboriginal rock art, including hand and arm stencils, and tally marks.
A shallow ridge-top shelter above New Place Creek which has charcoal motifs (birds) and hand stencils.
A spectacular Aboriginal rock art site in the Bala Range, this shelter has over 265 motifs including two eagles, anthropomorphs, lines of "dancing men" figures and 50+ hand stencils.
A small pothole with multiple axe grinding grooves on a ridge above New Place.
A long shelter in the Bala Range with three charcoal figures, including a man and macropod.
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.
A deep sandstone shelter near Stockyard Creek which has Aboriginal rock art dating back to around AD1470, with over 60 motifs including a "starburst" drawing and many hand stencils.
A low shelter with Aboriginal rock art (including a dingo drawn in charcoal) and two sets of grinding grooves.