If you believe The Greenland Saga and The Saga of Erik the Red they did. Both contain descriptions of interactions -- both positive and negative -- with Native Americans that the Norse called Skraelings.

Here is an excerpt from The Saga of Erik the Red. Erik and the Norse have erected a camp and overwintered in Vinland. The "they" in the first sentence refers to the Norse encamped in Vinland:

Now when spring began, they beheld one morning early, that a fleet of hide-canoes was rowing from the south off the headland; so many were they as if the sea were strewn with pieces of charcoal, and there was also the brandishing of staves as before from each boat. Then they held shields up, and a market was formed between them; and this people in their purchases preferred red cloth; in exchange they had furs to give, and skins quite grey. They wished also to buy swords and lances, but Karlsefni and Snorri forbad it. They offered for the cloth dark hides, and took in exchange a span long of cloth, and bound it round their heads; and so matters went on for a while. But when the stock of cloth began to grow small, then they split it asunder, so that it was not more than a finger's breadth. The Skrælingar (Esquimaux) gave for it still quite as much, or more than before.

Eventually the Norse left Vinland in large part to the unwelcoming local population.