Do I need a Permit for Cape Flattery and Bathurst Head?

I am planning to go to Cape Flattery and Bathurst Head (near Cape Melville)camping. I have read a bit about these places but no mention of permiits needed. To get to both places, the map I have shows the track as passing through aboriginal land. Does anyone know whether permits are needed and if so, where to obtain them? (no guesses please, only factually info).
TIA
Tony J
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