They spent a lot of time there and left wonderful paintings in places like Lascaux in southeast France, now closed to the public who must content themselves with a virtual tour at the link.
Says an acoustic expert, the most densely painted areas were those with the best acoustics.
Humming into some bends in the wall even produced sounds mimicking the animals painted there.
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With only dull light available from a torch, which couldn't be carried into very narrow passages, the ancient hunters had to use their voices like sonar to explore the crooks and crannies of a newfound cave.
Acoustics expert: Cavemen Must Have Loved to Sing
Because Paleolithic humans had a deep connection with the melodic properties that helped them navigate in a cave, they likely celebrated the unique acoustics by singing in conjunction with their painting sessions.
"Why would the Paleolithic tribes choose preferably resonant locations for painting," he said, "if it were not for making sounds and singing in some kind of ritual celebrations related with the pictures?"