The origin of mammals from cynodonts is universally accepted.
The origin of humans from primates is universally accepted among paleontologists, not among religious conservatives. Perhaps this short video can help fact check a few misconceptions.
Here you’ll see the origin of humans,
and all their many body parts, in a new light. We start with fishy tetrapods, just hitting the beachheads 365 million years ago (mya). By 340 mya the first reptiles were already diversifying. Our lineage goes on from there in a stepwise progression with novel traits appearing with each successive taxon every few million years in the fossil record.
The record is becoming more and more complete.
Using the closest known sister taxa to the actual lineage we can document a gradual accumulation of human traits, both bones and soft tissues, as well as likely behaviors based on phylogenetic bracketing. Here the human lineage runs through the reptilomorphs and seymouriamorphs, the basal reptiles, the synapsids, the therapsids, the cynodonts, the mammals, primates, anthropoids and hominids, only some of which ultimately evolved to become human.
Feel free to pause the video
at any point if scenes change before you finish reading a frame.
Look for other YouTube videos
that document the origin of pterosaurs, dinosaurs and turtles in a similar fashion.
More details and reference materials
can be found at ReptileEvolution.com
For the story of human evolution going back through raw chemicals, cells, worms and fish (along with all of the above taxa), read “From the Beginning, the Story of Human Evolution” by David Peters (Little Brown, 1991), a copy of which can be found as a pdf online at www.davidpetersstudio.com/books.htm