Modern humans reached every continent except Antarctica. However, it wasn’t always this way. The accepted theory, known as the “Out of Africa” hypothesis, suggests that Homo sapiens evolved in Africa around 300,000 years ago and spread to other continents.
The earliest human migration is believed to have occurred out of Africa into Asia about 200,000 years ago, possibly through the Sinai region between Egypt, Jordan, and Israel. From there, humans quickly spread east into Asia, establishing themselves along coastlines and eventually moving into interior regions.
In Europe, evidence suggests that modern humans arrived around 50,000 to 60,000 years ago, replacing the existing Neanderthal population. The earliest arrival in Europe is dated back to about 210,000 years ago, but this may be from a earlier wave of migration that died off during a glaciation.
In Oceania, mitochondrial DNA dating indicates that humans arrived in Southeast Asia around 60,000 years ago and spread throughout the Pacific Islands through waves of migration. In North America, evidence suggests that modern humans arrived at least 23,000 years ago, possibly along the Pacific coast.
South America was also populated by early modern humans, with fossil records indicating arrival dates ranging from about 15,000 to 14,550 years ago.
Antarctica, however, remains unpopulated. While John Davis is often credited as the first person to reach Antarctica in 1821, his claim is disputed. Other explorers, such as Henrik Bull and Carsten Borchgrevink, claimed to have reached the continent earlier, but these claims are also disputed. The idea of early Māori sailing to Antarctica from New Zealand dates back to the seventh century but is not widely accepted by historians and scientists.
Source: https://www.livescience.com/archaeology/when-did-modern-humans-reach-each-of-the-7-continents