Evolutionary History
For more details on this topic, see Evolution of mammals.Cladogram following, which takes Mammalia to be the crown group.
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Synapsida, the group which contains mammals and their extinct relatives, originated during the Pennsylvanian subperiod, when they split from the lineage that led to reptiles and birds. Crown group mammals evolved from earlier mammaliaforms during the Early Jurassic.
Read more about this topic: Mammal Anatomy
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