Yes, humans did exist millions of years ago, but in a different form than what we recognize as modern humans today. The human species, Homo sapiens, evolved relatively recently in our planet's history. The history of human evolution spans millions of years, and our early ancestors belonged to various species in the Homo genus.
The earliest members of the Homo genus, such as Homo habilis and Homo erectus, lived around 2 to 2.5 million years ago. These early hominins had smaller brains and a more primitive physical structure compared to modern humans. Over time, as different hominin species emerged and went extinct, evolutionary changes gradually led to the development of Homo sapiens.
Anatomically modern humans, Homo sapiens, emerged around 300,000 to 200,000 years ago in Africa. They possessed larger brains, advanced cognitive abilities, and similar physical characteristics to contemporary humans. Homo sapiens eventually migrated out of Africa and spread across the globe, leading to the diverse human populations we see today.
In summary, humans, in the form of early hominin species, existed millions of years ago, but the specific species Homo sapiens, which are considered modern humans, emerged much more recently in the timeline of human evolution.