Its hard to say for sure because they are now extinct, but Sahelanthropus (http://en.wikipedia.org/wiki/Sahelanthropus) might be what kind of what they looked like. Some people think that this fossil is a common ancestor between humans and chimpanzees that lived about 7 million years ago in Africa.
Basically, the answer is something that looked quite alot like an ape but wasnt quite one, evolution is very slow and since we only have a few fossils it is very hard to say exactly when a species changed.
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