Regan Hart's grandfather began the struggle to take back his clan's traditional land on Cape York more than two decades ago.
With tears in his eyes, Mr Hart on Wednesday accepted the title deeds to what is now the Cape Melville National Park.
His people, the Gambiilmugu, are one of several Aboriginal groups handed back seven Queensland national parks on southeast Cape York.
The 354,800-hectare area takes in the Cape Melville, Jack River, Mount Webb, Melsonby (Gaarraay), Starcke, Flinders Group and Howard Group national parks.
Six small coastal islands along the cape have also been returned.
The day was bittersweet for Mr Hart, whose grandfather Roger Hart died in the 1990s.
"It's sad he's not here to witness this," he told AAP.
"I'm thinking he's looking down and he's very proud of what we've done to get this land back.
"I will always remember the first time I went up country (Cape Melville).
"When I jumped off the boat my granddad met me on the beach and he put his hand out to shake my hand and said, 'Welcome grandson, this is our country."
Roger Hart was taken from his birthplace at Barrow Point on Cape Melville when he was a boy because he was mixed race. He didn't return until he was in his 50s.
During that time the area became a national park and Roger Hart, with the help of Noel Pearson, began negotiations in 1992 to have the land returned to his people.
Regan Hart took over land negotiations after his grandfather passed away.
A group of traditional owners and government officials gathered in Cooktown, north of Cairns, on Wednesday to witness the signing over.
Traditional owners say they're keen to establish tourism ventures at the parks.
They also plan to designate more public camping sites.
Mr Hart hopes having ownership over the land will inspire more of his people to return and reconnect with their culture.
"Our goal, because we've been away for so long, is to try and get back on country to understand the culture before it's all lost," he said.
State Environment Minister Andrew Powell told reporters the emotion and passion in the room was palpable.
"It's taken too long, that's not good enough. But to be here and to right that and hand over the deed of grants was just amazing."
Although traditional owners technically own the land, they have agreed to Indigenous Land Use Agreement and Indigenous Management Agreement conditions.
The areas will remain national parks, public access won't be restricted and the land can never be sold.
Traditional owners will have more say over how the land is used and will jointly manage the parks with state park rangers.
They will also take part in projects researching the flora and fauna on Cape York.
The transfer of ownership is the largest number of national parks handed back to Aboriginal people.
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