Yes, humans (Homo sapiens) are evolved from a group of apes (the Homininae), which shared a common ancester with an ape species that was also the forerunner of modern chimpanzees, somewhere around 7-8 million years ago. Further back (maybe 9-10 million years ago), this common ancestor of what would become human-like apes and chimpanzees evolved from another ape ancestor, one branch of which went off to become gorillas. Further back still, the common ancestor of what would become gorillas, chimps and humans had anotehr branch that became orangutans an so on back.
This is obviously a very simplistic description of the main speciation events, there is plenty of good information out there: https://en.wikipedia.org/wiki/Human_evolution; http://www.britannica.com/science/human-evolution etc. but these again give a digested version. To truly understand human evolution, there are a number of excellent textbooks and journal articles that would be useful for you to read but the above will at least give you a start understanding the basic events and the processes of speciation.