Pangaea, which existed from about 350 to 200 Ma, was not the first supercontinent. In 1966, Tuzo Wilson proposed that there has been a continuous series of cycles of continental rifting and collision; that is, break-up of supercontinents, drifting, collision, and formation of other supercontinents. Pangaea was preceded by Pannotia (600 to 540 Ma), by Rodinia (1,100 to 750 Ma), and by other supercontinents before that.
It's interesting that Pangaea is often talked about as "the first configuration of continents" but the truth is that Pangaea is actually relatively new compared to even older configurations of the continents.