Humans are known to have evolved from the same group of primitive primates that led to Apes, Monkeys and other primate species we know today. Various different species in the ‘homo’ family have been found as fossils, leading up to ‘homo sapiens’ – biologically modern humans, who have existed for some 250,000 years. It’s not entirely clear which of the other ‘homo’ species are direct ancestors of ours or different branches of the evolutionary tree which may have co-existed and later died out. A good image to help explain this can be found here:
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