“Aboriginal and Torres Straight Islander people have invited us to walk with them, and today in South Australia we have accepted that invitation,” Premier Peter Malinauskas said after the legislation passed Parliament.
Some protesters also made their voice heard, but they were outnumbered by the thousands celebrating.
“I think the majority of South Australians are certainly behind this,” one attendee told 9News.
The Voice will consist of 46 elected members across the state, representing six regions.
Two members will be selected from each area, making up a body of 12 people that will have direct communication to parliament and government departments.
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“Nothing that we’ve done today will diminish anyone else but it will absolutely ensure that Aboriginal voices are heard more clearly and more of a role in decision making,” Attorney General Kyam Maher said.
Australians as a whole, meanwhile, will have their say on the national Voice as the government prepares a referendum to go before federal parliament.
But the South Australia Voice is expected to be up and running before the rest of the country votes.