The book tells the story of Te Arawa from the iwi's origins in the South Pacific until European contact.
Before its publication tomorrow, the book was blessed by Reverend Tom Poata and tributes were paid to the much-loved author, who died in 2010.
Mr Stafford has a wing of the Rotorua Museum named in his honour.
Professor Tapsell said nearly 50 years on from its first publication, Te Arawa remained as relevant as ever to descendants of the iwi and students of New Zealand history.
Professor Tapsell was a protege of Mr Stafford's when he was curator at Rotorua Museum in the early 1990s.
Mr Stafford (1927-2010) was fluent in te reo Maori and played a significant role in the preservation of historical sites and objects. He was made an MBE and CBE and received an honorary doctorate.