This is a good question. The answer is yes we did, but probably not in the way you are thinking. When we say that we evolved from apes, what we mean is that we share a recent common ancestor with other apes such as chimpanzees. Both humans and chimps evolved from the same animal about 4 million years ago.
There is good evidence to support this. One is bones found of our ancestors, different species of humans from which we in turn evolved, and as you go further back the closer to apes we become.
Another piece of evidence is in DNA. Some of the genes we have are pretty much the same in all species of animals, with only a few differences. If you look at these differences then you can see how long ago any two animals shared a common ancestor, the fewer the differences the closer the two animals are. So this shows we are closest to chimps, less close to horses, even less close to frogs, not at all close to plants.
Yes, what Steven said. If you look here you can see the phylogeny (like a sort of evolutionary family tree) showing how closely related humans are to chimps, bonobos, gorillas, and so on.
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