Specific History of Freedom To Petition

Even though it wasn't a petition itself, the Declaration of Independence mentions how there have been past petitions to the British parliament, all of which were met with "injury". This is most likely what leads to the creation of this First Amendment clause. 

In 1836, Congress passed a "gag rule" to prevent discussion of slavery, so John Quincy Adams, an abolitionist, argued that his violated the First Amendment. He continued to present anti-slavery petitions until the "gag rule" was rescinded.

These petitions to Congress were one of the earlier attempts to gain voting rights for women. They did not work at the time.