Homo erectus were the predecessors of our own species, Homo sapiens, so they certainly lived on earth before us. However, the predecessors to Homo erectus were a species known as Homo habilis (2.4 to 1.5 million years ago).
Then, depending on your definition of 'people', there were people even before Homo habilis - members of theAustralopithecus genus, going back more than 4 million years.
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