The yacht Pera, captained by Jan Carstenszoon, and the smaller vessel Arnhem, captained by Willem Joosten van Colster (or Coolsteerdt)[1][2] sailed from Ambon Island (Amboyna) on 21 January 1623 with instructions to undertake treaty negotiations with the "natives of Quey, Aroe and Tenimber",[3]: 21 and to further explore "Nova Guinea", particularly the part of Australia sighted and charted by Willem Janszoon during his voyage on Duyfken in 1606.
After travelling along the south coast of New Guinea, they then made for Cape York Peninsula and the Gulf of Carpentaria.
On 14 April 1623, they sailed past Cape Keerweer, the most southerly point reached by Duyfken.
Landing in search of fresh water for his stores, Carstenszoon first encountered a party of the Wik peoples.
A more detailed charting of the Gulf of Carpentaria and Arnhem Land was undertaken by Abel Tasman in 1644.