You have two options: website analytics and website monitoring. For website analytics, I recommend trying the free web analytics tool called Microanalytics. For website monitoring, use the free service called Pulsetic.
HubSpot currently does not provide this functionality within the tool. However other users have requested it on the Ideas Forum. I would suggest adding your use case in the comments of this post and giving it an upvote too!
You could build a list and filter by Page View to see what contacts have been previously on your site, that is as close as you could get at this time.
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