Whales have been around for 50 million years (which seems like a long time), but when did humans discover them?

To discover a whale, they either had to be seen from shore, or people had to invent the boat and get out to see enough to see one.

This question arose when I was sitting and thinking about Jonah and the whale. For someone to have written about Jonah in the stomach of the whale, they had to have known, back before Christ, that there were whales roaming about.

Perhaps it was Jonah who discovered the whale? I wonder how many copycats tried living in one.