I highly reccomend this website:
http://www.humanjourney.us/ancestors.htmlMore specifically answering the question about human ancestry:
http://www.humanjourney.us/ancestors.htmlA rough timeline of human evolution:
(MYA=Million Years Ago) (KYA=Thousand Years Ago)
Toumai - Sahelanthropus tchadensis 7-6 MYA
Orrorin - Orrorin tugenensis 6 MYA
Ardipithecus ramidus 4.4 MYA
Australopithecus anamensis 4.2 to 3.9 MYA
Australopithecus afarensis 3.6 to 2.9 MYA
Kenyanthropus - Kenyanthropus platyops 3.5 MYA
Australopithecus africanus 3.0 to 2.0 MYA
Australopithecus aethiopicus 2.7 to 2.3 MYA
Australopithecus garhi 2.5 MYA
Australopithecus boisei 2.3 to 1.4 MYA
Homo habilis 2.3 to 1.6 MYA
Homo ergaster 1.9 to 1.4 MYA
Homo erectus 1.8 MYA to 600 KYA
Australopithecus robustus 1.8 to 1.5 MYA
Homo rudolfensis 1.8 MYA
Homo heidelbergensis 600 to 400 KYA
Homo neanderthalensis 600 to 25 KYA
Homo sapiens 250 KYA to present