Yes in fact there is!

For this answer I will be using the primary source "The Vinland Sagas" which is a collection of the two recorded sagas detailing the Viking expeditions to what would come to be known as North America. For quite some time the accuracy of these texts was debated (they were written in the 1200's while the expeditions took place in the late 900's/early 1000's) but with the discovery of the Viking settlement at L'Anse aux Meadows in the 20th century we do now have confirmation that the Vikings did in fact reach America and can view the texts thusly.

Obviously this must still come with a disclaimer that these are originally oral histories that were passed down for generations before being recorded in writing. As is typical in the study of history, we have to take these accounts with a certain grain of salt as the stories may have changed/evolved over time but we also should not discount them as primary sources (especially since written primary sources can also have a lot of the same issues). Interestingly the two sagas included (The Saga of Erik the Red and The Saga of the Greenlanders) actually frequently cover the same events and characters, albeit differently which further adds to the confusion over exactly what happened.

To answer your question yes the vikings appear to have encountered native Americans, more specifically Inuit people. The vikings even had a word for the natives which was Skræling (though they used this term both for the people they encountered in America as well as in Greenland). In the Saga of the Greenlanders the Viking group encounters what sound like some Inuit hunters on shore. They capture and kill a few of them by some get away and later come back with a larger group to retaliate. Later a group of inuit come to trade skins and furs, the Vikings refuse to trade weapons with them but are able to make a deal with dairy and food. Later they return for more trade but one Inuit is killed and the rest retreat. Later they return again for a battle, which the vikings emerge from victorious.

In the Saga of Erik the Red encounters with the natives are described differently. First they encounter the natives in their canoes along the shore, only here they are described as merely exchanging gazes and the Vikings showing a white shield to indicate peaceful intentions. Later the natives come to trade with them but grow frightened and flee after seeing a bull get loose. Three weeks later they return for a battle and use some kind of catapult-like weapon to fight the Norse before eventually being frightened off. They later find some Inuit and are able to capture them and teach them their language. From these children they learn that the Skræling live in holes or caves and that there are apparently other natives who wear white cloth.

So okay this doesn't tell us a lot, but these are frankly the only first hand accounts of encounters with indigenous people that we have. While quite lacking in details and not necessarily being totally accurate it is likely that at least something along these lines happened (IE: met natives, traded, and did battle). The catapult is confusing but could potentially be alluding to war slings (Ancient Norse is a very poetic language and can often be interpreted differently). It is a possibility that this is all made up but the description of small skin made canoes, descriptions of their physical features, and the potential allusions to Inuit culture (living in holes/caves may have been an approximation to describe an igloo) make it quite likely that they did actually encounter them. It is also worth note that there has been at least one inuit folktale describing a visit from strangers from a foreign land, which again is likely the vikings.

So we can't be 100% certain as to what happened when they met indigenous people but we can say with a good bit of confidence that they did encounter them. If you'd like to read about it, well you may as well read "The Vinland Sagas" which you can find online for free, they're quite short so it should take you no time at all.

Written sources are quite scant on the Vikings as they weren't too keen on writing books. Most of their writing came in the form of Runes left around Scandinavia. So most of our historic accounts of their exploits come either from other Europeans describing them or from Icelandic sagas and Skaldic poetry which was written down centuries after the fact. Nonetheless very interesting material and well worth a read.