Opposition Leader Bill Shorten along with a cohort of Labor MPs, including Indigenous senators Malarndirri McCarthy and Pat Dodson, and Labor MP Linda Burney, met with Clinton Pryor and elders at the front of Parliament House.
Mr Pryor said he wanted to address a number of issues and to give Indigenous people a voice.
"We're here today to, finally, hopefully, get things done properly and improve things for our people," he said.
Aboriginal Tent Embassy caretaker, Roxley Foley, read from a statement to the Labor leader about a number of pertinent issues discussed with a circle of elders.
"We're not going to give you the softball approach that was given at Yulara. We're going to be honest, we want to really address the issues. Because without truth, we cannot have justice," he said.
Mr Foley said this was an opportunity to create a political legacy with the likes of former Prime Ministers Gough Whitlam and Robert Menzies.
"We're looking for a true leader to actually pick up these issues, to really define a government. Because as long as the government is trying to put our issues far down on the agenda, it's never going to be serious about addressing them," he said.
Amongst the list of demands, the call for a treaty was put forward and rejection of Noel Pearson's roadmap of constitutional change.
Mr Shorten said today was an opportunity to help further inform his views, and paid respect to Mr Pryor's Walk for Justice.
"It's a big walk, I haven't heard anybody else do it. But I know that you're doing it on behalf of a whole lot of people. And I've listened very carefully to Roxley and we will go through the list," he said.
He said Labor is up for the conversation, and highlighted the issues of incarceration rates and children in care.
But admitted he did not agree with everything that was said.
"I made clear I didn't agree with everything they said, but I do believe it's important that people who walk 6,000 kilometres, and our First Australians generally, are treated with greater respect and equality than they currently receive."
Earlier, Labor and Greens MPs met with Mr Pryor and elders at the sacred fire at the Aboriginal Tent Embassy.
Greens Leader Richard Di Natale welcomed Mr Pryor’s arrival in Canberra after completing his year-long walk for justice.
"We're with you every step of the way. We thank you for everything you've done, for bringing such an important message. Let's hope the politicians hear it," Mr Di Natale said.
“His experiences will provide endless understanding for the real struggles of Aboriginal and Torres Strait Islander peoples across this vast country and leaders from all political sides should take heed to what he has to say."
The meeting comes after Mr Pryor walked more than 5,500kms across the country from Perth to Canberra to highlight the issues facing Indigenous Australians and to call for justice.
He called for a meeting with the Prime Minister Malcolm Turnbull and the Governor-General Sir Peter Cosgrove, with a meeting expected to take place tomorrow.
Mr Pryor requested Mr Turnbull and Mr Cosgrove to meet with him at the Aboriginal Tent Embassy. But its reported the meeting will take place at Government House.