At the time of European contact the area of Newburgh was occupied by the Waoranek, a branch of the Lenape. The area that became Newburgh was first explored by Europeans when Henry Hudson stopped by during his 1609 expedition up the river that now bears his name. His navigator, Robert Juet, is said to have called the site "a pleasant place to build a town", although some later historians believe he may actually have been referring to the area where Cornwall-on-Hudson now stands.