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New Zealand is usually credited to be the last significant area on Earth to have been colonized by human beings in the sense of the question; as the first settlers seem to have arrived in the late 1200CE. By contrast, there are signs of human settlements on Madagascar dating from the beginning of the common era and records of trade with the island dating from around 700CE, so half a millennia before anyone stepped foot on New-Zealand (and indeed, even Iceland seems to have been colonized much later than Madagascar).