Five Bay State girls made history yesterday when they became the first female Cub Scouts to participate in a Pinewood Derby competition in Chelmsford.

The girls, who range from kindergartners to fourth graders, cheered alongside other Cub Scout Pack 45 members as the little wooden cars they hand-crafted at home zipped down an inclined track and across the finish line.

Their participation in yesterday’s race, held in the basement of the Central Congregational Church, was made possible by the Boy Scouts of America’s groundbreaking decision last year to allow girls to join the traditionally all-boys social organization.

Kate Henderson, whose 5-year-old daughter, Charlie, is among the state’s first female Cub Scouts, said she thinks the change “opens up a world of possibilities.”

“I think it’ll be really good for her to branch out and be exposed to things she wouldn’t normally be at this point in Girl Scouts,” Henderson said. “This is just one more opportunity for her to make a decision in the world and grow up to be a strong leader.”

Carrie Wetzel said she and her fellow Pack 45 committee members were thrilled to learn that girls would be signing up.

“They’ve been coming all along with their brothers. We run it as a family pack,” she said. “Now the girls can be recognized.”

Kristen Richards, leader of a Chelmsford Girl Scout troop, said she loves knowing that her 9-year-old daughter, Samantha, can now be in both organizations.

“I was really open-minded about it,” Richards said. “I think it’ll allow girls to have stronger relationships and feel more confident.”

Matt Apostolou, whose 10-year-old daughter, Kennedy, participated in yesterday’s races, said he’s thankful he’ll be able to bring his kids to the same activities.

“It’s awesome. She’s seen her brother do it for years, now she has a chance to do it,” he said. “It’s a good learning experience.”

In addition to Cub Scouts, 12-year-old Kiara Gringas said she hopes to enlist in the Adventure Scouts and Boy Scouts next year so she can go camping.

Her mom, Jennifer Gringas, said she’s all for it.

“She loves being outside,” she said.

“I’m a single mom. I have a girl and a boy. The Girl Scouts don’t allow me to bring my son to anything, so as far as families go, this is a lot better.”