Use the Time Tree website to find out how long ago we shared a common ancestor with any other species.

http://timetree.org/

1. Two species or higher taxa are queried
   (e.g., cat and dog -- 55.7 million years ago)
2. TimeTree compares all taxa in one inclusive group (e.g., Feliformia) with those in the other group (e.g., Caniformia) to find all published times of divergence for the evolutionary split.

Four examples:

The common ancestor of people (AKA human apes) and chimpanzee apes lived 6.1 million years ago.

People and Mice -- 103.7 Million Years Ago

People and Snakes -- 324.8 Million Years Ago

People and Great White Sharks -- 523.1 Million Years Ago

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YouTube video: Tree of life branches out online