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.

One of two adjoining shelters along a tributary of Werong Creek with Aboriginal rock art; this shelter has mostly hand stencils.
A large shelter along a tributary of Werong Creek in Yengo NP which has a large number of stencils, including boomerangs and stone axes.
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.