Homo sapiens have been on this Earth for about 200,000 years. But the first human species arrived after splitting from the apes about 2.8 million years ago. After that, there were several humans that predated modern humans, or the species known as Homo sapiens sapiens. Homo signifies the human genus, and the Homo sapiens sapiens (the subspecies of Homo sapiens under which the modern human falls) is the last remaining species of the genus. That is to say, we're the only humans left.
Related: How Have Humans Evolved?