Malcolm Turnbull says it is vital all levels of government work together to improve child safety in remote Northern Territory communities.

Turnbull arrived in Tennant Creek on Sunday, on the first visit to the region by a prime minister since Malcolm Fraser in 1982.

On arrival he was given a welcome to country in the local Aboriginal language, to which he responded in the same language.

“We have to map the pathways to reduce harm to children and set the framework for greater economic development for the Barkly region,” Turnbull said. “I know Tennant Creek has had its challenges in recent times and I know you are facing these challenges head-on with great courage, leadership and collaboration.”

In June, it was revealed the NT government had removed 15 children from their families around the town, when it was deemed unsafe after the rape of a toddler there in February.

A NT parliamentary estimates hearing was also told at least one child is sexually exploited or abused in the Territory each week.

Turnbull said all levels of government needed to work “with First Australians, doing things with First Australians rather than doing things to them”.

Malcolm Turnbull meets with a local Indigenous dance group after arriving at Tennant Creek airport. Photograph: Dan Himbrechts/EPA

“It is a fundamental change, that is why I’m here to listen,” he said.

At the end of the speech, one man in the crowd yelled out: “Prime minister, where’s our 20 and 50-year plan for Australia? When are we going to stop selling our infrastructure to foreigners, and our minerals? When are we going to look after our country rather than yourself and your business mates?”

The Indigenous affairs minister, Nigel Scullion, said the man had caused offence to local people by disrupting the welcoming ceremony.

The visit to Tennant Creek comes a month after Turnbull met with the Barkly regional council mayor, Steve Edgington.

The mayor wants the Turnbull government to consider extending its cities deal program to Tennant Creek to include a regional development deal with the troubled outback town.

“It is an opportunity for the prime minister to see first-hand some of the issues in Tennant Creek,” Edgington said.

He nominated housing, child protection, alcohol abuse, education and health as some of the main social issues that needed to be tackled.

Attracting business to invest in Tennant Creek and create jobs for the town of about 3,000 people is another priority.

“We have to get off the cycle of unemployment and get people into employment,” Edgington said.

The social services minister, Dan Tehan, and the NT chief minister, Michael Gunner, have also joined the prime minister on the trip.