I think we can eliminate sensible humans from ever having reached the south pole. With the north pole being devoid of dry land, I think it's also fairly reasonable to assume mainly polar bears went there. However, as the north pole is a route between land masses where humans have lived for thousands of years, I expect people happened upon the north pole quite accidentally and never knew or cared.
both cook and peary claimed to have reached the north pole in 1908 and 1909 respectively, however neither claim could be verified. the first expedition known to have reached the north pole was that of wally herbert in 1968.
amundsen reached the south pole in december 1911. this was verified by scott's expedition, which arrived there 34 days later in january 1912.
There is a nice story concerning Amundsen when he arrived back in Hobart after the south pole trip. He checked into the hotel and was given an ordinary room then went over to the post office to send telegrams about the expedition. When he returned to the hotel he discovered that he had been put in the best suite in the hotel.