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In page Congo River:

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The name Congo/Kongo originates from the Kingdom of Kongo once located on the southern bank of the river. The kingdom in turn was named after the indigenous Bantu Kongo people, known in the 17th century as "Esikongo".[1] South of the Kingdom of Kongo proper lay the similarly named Kakongo kingdom, mentioned in 1535. Abraham Ortelius labelled "Manicongo" as the city at the mouth of the river in his world map of 1564.[a] The tribal names in Kongo possibly derive from a word for a public gathering or tribal assembly. The modern name of the Kongo people or Bakongo was introduced in the early 20th century.[citation needed]