One of our oldest bipedal hominin ancestors, Australopithecus arafensis, e.g. ‘Lucy’, lived in eastern Africa about 3.8 and 3.0 million years ago.

According to the ‘Recent African Origin model’ modern humans began to migrate from Africa between 125,000 and 60,000 years ago:

http://commons.wikimedia.org/wiki/File:Spreading_homo_sapiens_la.svg

According to Shi et al. the first wave of human migration into Japan occurred more than 30,000 years ago, via Tibet:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC2605740/

map here:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC2687770/figure/F1/