The descendants of Gurindji workers and their families who participated in the historic walk-off at Wave Hill station in the Northern Territory have endorsed the Uluru Statement from the Heart, including calls for a stronger Indigenous voice in Parliament.

Gurindji traditional owner Rob Roy read the endorsement after community members retraced the steps of Wave Hill protest leader Vincient Lingiari, 51 years after the protest over poor pay and working conditions for Aboriginal people at the station that sparked the national land rights movement.

"I reckon it's about time now that we need to be recognised in the Constitution," Mr Roy said.

"We need a voice, we need more Indigenous voices in Parliament."

Rob Roy reads the endorsement of the Uluru Statement from the Heart. ( ABC News: Felicity James )

The endorsement read:

"The Gurindji people today state our strong support for the Referendum Council recommendation for a constitutionally enshrined First Peoples voice to Parliament. "Today on the anniversary of the Wave Hill Walk-Off, we re-enacted the walk-off that was the beginning of our struggle for land rights and fair working conditions. "It was our actions that led to Prime Minister Gough Whitlam giving our country back to us in the symbolic gesture that is celebrated today in Australian history. "The call of Voice Truth and Treaty out of Uluru this year was another action that we will be a part of. "Dr Yunupingu put down a challenge to our Prime Minister at Garma to see the call for a voice enacted. "We join our voice with theirs with the vision of seeing a Gurindji speaking to Parliament, and the truth being told about our history. "A settlement of our sad past can be resolved by Makarrata."

The term Makarrata has long been proposed as an alternative name for the treaty process in Australia; it is a complex Yolngu word describing a process of conflict resolution, peacemaking and justice, and a philosophy that helped develop and maintain lasting peace among the Yolngu people of north-east Arnhem Land.

Children carry on the Lingiari legacy

Gurindji children prepare to dance at the 51st anniversary of the Wave Hill Walk-Off. ( ABC News: Felicity James )

Vincent Lingiari led more than 200 workers and their families off Wave Hill Station in 1966, fed up with poor wages and conditions, and later they demanded the return of Gurindji land.

The seven-year sit-down protest in the Victoria River bed helped push forward movements for equal wages and the Land Rights Act.

Gurindji traditional owner Roslyn Frith said it was important to mark the anniversary each year.

"This is what we fought for, this is what we want to teach our kids," she said.

"It's our life, it's our way, it's our land, and this is what we want."

Vincent Lingiari was a role model, she said.

"He went from nothing to something; he didn't have the education, but he had within him the power to lead his people."

One year after a huge celebration to mark half a century since the walk-off, the 51st anniversary was smaller and community-focused.

"We just want to keep it alive every year, so our kids can continue on carrying that legacy on for our fathers, grandfathers and Mr Lingiari," Ms Frith said.