An action plan, named the Djalkiri or Foundational Footsteps, has been formulated with the aim of promoting deeper cultural understanding and new community partnerships.
The five-year blueprint will include means to expand Indigenous recruitment and career pathways, while encouraging youth engagement and fostering stronger connections with Indigenous organisations.
The initiative has been launched to coincide with the United Nations  International Day of the World's Indigenous Peoples.
The word Djalkiri translates to "the ancestral imprints left on the landscape during creation".
"It reminds us that meaningful change is built one step at a time," Vice Admiral Matthew Buckley said.
"At its heart, Djalkiri is about building a deeper maritime story alongside a shared purpose."
Long before the establishment of the RAN, Aboriginal and Torres Strait Islander peoples "navigated, understood and protected the waters surrounding our continent", Vice Adml Buckley said.
The document also recognises the contributions First Nations people have made to Australia's maritime heritage and to their service in the RAN, past and present.
Madarpa Elder Djambawa Marawili, one of the leaders in the Indigenous legal ownership campaign the Sea Rights movement, helped provide the vision behind the action plan.
"I thank Dr Djambawa Marawili for sharing the spirit of Djalkiri with the navy to strengthen our journey," Vice Adml Buckley said.
Navy Indigenous adviser Lieutenant Commander James Holman said the plan reflected years of engagement across Indigenous personnel and veterans, Indigenous Elders and communities, as well as the broader navy.
"The launch of Djalkiri represents navy's commitment to building on strong foundations and creating lasting change," Lt Commander Holman said.
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