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The History of Cairns and North Queensland. What is now the city Cairns Australia was inhabited by the Walubarra Yidinji People that still recognizes their indigenous property rights. They are known in the local Yideiny language as Gimuy. In 1710 James Cook first mapped the future site known as Cairns naming it Trinity Bay.
Home Â» Living in Cairns Â» Cairns History. Captain James Cook journeyed up the North Queensland coast on his first Voyage of Discovery in 1770, aboard the HM Bark Endeavour, arriving on Trinity Sunday and naming the area Trinity Bay.