Here's a possible way to fill in the blanks with the appropriate past tense verbs:
43,000 years ago
Early humans sang songs to their children, and they created their first musical instruments from bones. The world's oldest flute is from this time.
40,000 years ago
People traveled to Australia in some of the world's earliest boats and hunted kangaroos for the first time.
Feel free to modify any part if you have different words in mind!