Genesis 38:8-10

Juda, therefore, said to Onan his son: Go in to thy brother’s wife and marry her, that thou mayst raise seed to thy brother. He knowing that the children should not be his, when he went in to his brother’s wife, he spilled his seed upon the ground, lest children should be born in his brother’s name. And therefore the Lord slew him, because he did a detestable thing[.]

In all seriousness, since apes do it (a lot), I don't think there ever were a "first person in history". It's more just a consequence of having long enough arms.