The claim was lodged by the Central Land Council (CLC) on their behalf nearly 10 years ago.
Justice John Mansfield's decision relates to an application made in 1995 in relation to 1,100 square kms.
The parcel includes pastoral land surrendered for the proposed Davenport Range National Park and the historic township of Hatches Creek.
Justice Mansfield was taken on visits to the country during his deliberations, where women performed ceremonies and men did ground paintings to show their connection to the land.
The Central Land Council described the ruling as a great victory.
But it has expressed sadness that many of the key witnesses died while waiting for the court's decision.