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Archaeological remains have been found throughout peninsular Malaysia, Sabah and Sarawak.  The Semang have a deep ancestry within the Malay Peninsula, dating to the initial settlement from Africa over 50,000 years ago.

Ptolemy showed the Malay Peninsula on his early map with a label that translates as "Golden Chersonese", the Straits of Malacca were referred to as "Sinus Sabaricus".  From the mid to the late first millennium, much of the Peninsula as well as the Malay Archipelago were under the influence of Srivijaya.

Britain established its first colony in the Malay peninsula in 1786, with the lease of the island of Penang to the British East India Company by the Sultan of Kedah.  In 1824, the British took control of Malacca following the Anglo-Dutch Treaty of 1824 which divided the Malay archipelago between Britain and the Netherlands, with Malaya in the British zone.

In 1826, Britain established the crown colony of the Straits Settlements, uniting its four possessions in Malaya: Penang, Malacca, Singapore and the island of Labuan.  The Straits Settlements were initially administered under the East India Company in Calcutta, before first Penang, and later Singapore became the administrative centre of the crown colony, until 1867, when they were transferred to the Colonial Office in London.