Published Saturday, 28 January 2012
Mr Robinson was invited by the Ulster Council to be a special guest at the match, held at the Athletic Grounds in Armagh.
The DUP leader sat alongside Mr McGuinness, Sports Minister Caral Ní Chuilín and Ulster GAA President Aogán O'Fearghail at the game between Derry and Tyrone.
Mr Robinson arrived at the Armagh County ground some 40 minutes before the throw-in.
He was brought into the VIP area at the front of the main stand, after the playing of the Irish national anthem, Amhrán na bhFiann.
I have consistently been saying that we have to get away from the ‘them and us’ politics. We have to be able to show respect for each other’s traditions so it's good to be here.
First Minister Peter Robinson
"It's good to be here. I have had several meetings with the GAA, at a meeting-to-meeting level and when the invitation came I was glad to take it up," said Mr Robinson.
Tyrone regained the cup after coming from behind to beat Derry 1-14 to 2-8 on the night.
"I'm not sure if I have caught all the finer points of the game, but I'm on the side of the referee on this one," Mr Robinson joked.
He is not the first senior DUP politician to attend a Gaelic football match as then Sports Minister Edwin Poots was present at a McKenna Cup match between Down and Donegal at Pairc Esler in Newry in 2008.
Mr McGuinness said the First Minister's attendance was "another little bit of history".
"I think it's a brave step, but Peter knows the overwhelming majority of our people passionately want the peace process to proceed and are absolutely delighted when they see him and myself turning up at different events, maybe even events that they would never have expected either the two of us would support," he told UTV.
Ulster GAA President Aogán O'Fearghail welcomed the First Minister and deputy First Minister to the match.
As an Association, we are committed to a shared future for all in Ireland. We outreach to many who have had no traditional involvement with the GAA.
Ulster GAA President Aogán O'Fearghail
"The presence of the First Minister at tonight's match is part of that engagement process and something I warmly welcome," Mr O'Fearghail said.
"The attendance of the First Minister follows a series of engagements that have taken place involving him and his officials over the past number of years led by our Provincial Director Danny Murphy.
"Myself, Danny Murphy and Tom Daly (Chairman of the Casement Park Stadium Project) first met the First Minister last year and Ulster GAA would want to again recognise the significant investment that the Executive, under the leadership of both the First and deputy First Ministers, have committed to the Casement Park redevelopment and to many other GAA projects.
"I thank them for their confidence in and support for Ulster GAA," he added.