I was wondering if it is possible to get all the URL's from the history page of a person, perhaps with python (using selenium, or any other tool)?
No, that is not possible for two reasons:

Python is a server side language that is not executed in the user's browser 
Even if you did use a client side language that runs in the user's browser (i.e. JavaScript), security restrictions prevent this

Think of the implications if this were possible: Would you want any company whose website you are accessing to be able to spy on you like that?
Getting the user's browsing history's URLs