There were balloons, flags and placards as 100 people walked along the city's main street on Tuesday to mark NAIDOC week.
The annual procession featured many children, including babies in prams, and Mindaribba CEO Tara Dever said their involvement sent a special message.
"They are our future, they are tomorrow's leaders. Every decision that gets made today is for them," she said.
"For us this is our march of existence. When we first marched we had people - as we came down the street, lock their cars and hide in the shops. There was real fear and I think shock that there were so many Aboriginal people living in their community ... That was only a couple of years ago.
"Now, it's not like that, shopkeepers come out to watch us. There is a shift in the way that we interact with the broader community."
The annual march signals the start of NAIDOC week celebrations in the city.
"Voice, treaty, truth is the theme of NAIDOC - let's walk together," Ms Dever said.
"The voice is the voice of the true history of the country. To move forward we need to acknowledge that there is 85,000 years connection here prior to Europeans arriving. And the fact that we need our voice to be heard, in our way.
"All we're doing is asking with our voices, for our voices and the true history of the country to be acknowledged. Acknowleged by the general community, acknowledged in schools as First Nations people."