The name ''Angola'' comes from the Portuguese colonial name  ('Kingdom of Angola'), which appeared as early as Paulo Dias de Novais's 1571 charter. The toponym was derived by the Portuguese from the title  held by the kings of Ndongo and Matamba. Ndongo in the highlands, between the Kwanza and Lucala Rivers, was nominally a possession of the Kingdom of Kongo, but was seeking greater independence in the 16th century.