I'm going to request a clarification. Iberia and various Mediterranean territories were held by North-African peoples for centuries, but I have a feeling you mean sub-Saharan Africans.

hi. this question is surprisingly common; check out responses to previous related questions here

Were there any Black (African) knights in Medieval Europe?

Were there any black crusaders/templars?

How prevalent was racism in medieval Europe?

Did the Celtics have any contact with Africans?

Viking contact with Arabs?

Were there Arabs and Asians living in Western Europe during the Middle Ages/Early Modern Era?

How alien would the idea of a non-white person be to somebody living in medieval England?

Were there any Sub-Saharan Africans living in Medieval Europe?

Is there an Asian Marco Polo, an Asian who wrote an account of his travels in Europe during the Medieval or Renaissance periods?

There's an interesting documentary from the BBC about the skeleton of an African man found in a mediaeval Ipswich cemetery. History Cold Case - Ipswich Man