There is a variety of Paleolithic tools that are usually called borers and which were indeed used as rotary Drills (http://www.aggsbach.de/2010/12/bohrer-drill-from-the-mesolithic-of-demark/). Artifacts with a suggested drilling function are known already from the early Paleolithic (Bilzingsleben, La Micoque). Drills were never very abundant during the Old Stone age and usually comprise less than 10% of all tools at a specific site. Elaborated drills during the upper Paleolithic are known from the Gravettian and Solutrian (Roc de Sers). Bohrers became even more differentiated as a tool class during the Magdalenian. After 18 k.a. BP we observe micropercoirs, becs, “Zinken” and “Langbohrer”. The latter artifact is usually made on elegant long blades, which end with a long axially oriented drill bit, generated by (semi)-abrupt retouching and characterized by more or less symmetrical shoulders.
“Langbohrer” are especially abundant in central Germany (Nebra, sites in the Saale region) in S/W Germany and the northern Switzerland (Petersfels, Schweitzersbild) and at some sites in the Paris basin (especially Marsangy). They certainly have an activity specific aspect (working with organic materials) and usually co- occurred with other forms of drills (micropercoirs and becs and “Zinken”), which are an invariable part of most inventories [http://www.aggsbach.de/2012/06/the-hamburgian-culture-some-aspects/]).
For the German speaking community I strongly recommend a book just published by the Kerns Verlag: “Steinartefarkte”