How long did it take for mammals to evolve into humans?

Mammals were around when the dinosaurs were, we/they wer ebasically rodents until 64 millions years ago when the dinoaurs died out. Anatomically modern humans have been around for 500,000 years. Modern humans probably (mostly brain evolution is my theory) is debatable, but at least 50,000 years.

But basically, we're talking about a very long time period. 64 million years and more.