There are some isolated incidents. One of my favorites is the English expedition to New England in 1602 led by Bartholomew Gosnold. Upon reaching the vicinity, the English were surprised to find Native Americans hailing them in a Basque fishing vessel wearing European clothes. The Indians boarded the English ship and the two groups made themselves understood through the language barrier. It turns out, the Native Americans had been trading and fishing with Europeans for years. The whole affair ended amicably with the parties going their separate ways. Primary sources exist, but here is a quick summary [1]

[1] http://www.woodsholemuseum.org/oldpages/sprtsl/v16n2-Gosnold... (page 11)

Arguably Abel Tasman discovering New Zeaaland fits this criteria.

He sailed to NZ, and tried to go ashore to collect water, but the local Maori attacked and killed 4 of his men before they even got ashore, so he left. It was another 100 years before Captain Cook and his crew became the first Europeans to set foot on New Zealand.