Some kind of paddle, a flat and mostly rigid instrument for hitting people, especially on the buttocks, have probably been utilized as early as somebody discovered that a spanking, if hard and long, hurts the hands of the spanker. Replacing the hand with an instrument was an obvious step.
If I could guess, I should say that sandals or the like were the first objects used as paddles as most people had one, they are flat and stiff, with almost the perfect shape for the task, and are always at hand (or should I say at foot?).

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