Viscous convection within the mantle is linked to tectonic plate motions and deforms Earth's surface across wide areas. Such close links between surface geology and deep mantle dynamics presumably operated throughout Earth's history, but are difficult to investigate for past times because the history of mantle flow is poorly known. Here we show that the time dependence of global-scale mantle flow can be deduced from the net behaviour of surface plate motions. In particular, we tracked the geographic locations of net convergence and divergence for harmonic degrees 1 and 2 by computing the dipole and quadrupole moments of plate motions from tectonic reconstructions extended back to the early Mesozoic era. For present-day plate motions, we find dipole convergence in eastern Asia and quadrupole divergence in both central Africa and the central Pacific. These orientations are nearly identical to the dipole and quadrupole orientations of underlying mantle flow, which indicates that these 'net characteristics' of plate motions reveal deeper flow patterns. The positions of quadrupole divergence have not moved significantly during the past 250 million years, which suggests long-term stability of mantle upwelling beneath Africa and the Pacific Ocean. These upwelling locations are positioned above two compositionally and seismologically distinct regions of the lowermost mantle, which may organize global mantle flow as they remain stationary over geologic time.