Ancestral Puebloans, Cohonina, Paiute, Havasupai, Hualapai, Navajo lived in and around the canyon for >10,000 years. They knew every trail, spring, and cliff dwelling. It was never "undiscovered."
García López de Cárdenas (Coronado expedition) reached South Rim with Hopi guides. Saw the river but could not descend. Called it "impassable."
Major John Wesley Powell – one-armed Civil War vet, geologist. Led 9 men in 4 wooden boats 1,000 miles down Green & Colorado Rivers through the canyon. Mapped geology, rapids, ethnography. Published Exploration of the Colorado River of the West (1875).