Did humans descend from apes?

No - not really.  

Humans, apes and monkeys all evolved from the same ape-like animal.

Genesis 1:25-29

And God made the beast of the earth after his kind, and cattle after their kind, and every thing that creepeth upon the earth after his kind: and God saw that it was good.

And God said, Let us make man in our image, after our likeness: and let them have dominion over the fish of the sea, and over the fowl of the air, and over the cattle, and over all the earth, and over every creeping thing that creepeth upon the earth.

So God created man in his own image, in the image of God created he him; male and female created he them.

And God blessed them, and God said unto them, Be fruitful, and multiply, and replenish the earth, and subdue it: and have dominion over the fish of the sea, and over the fowl of the air, and over every living thing that moveth upon the earth.

And God said, Behold, I have given you every herb bearing seed, which is upon the face of all the earth, and every tree, in the which is the fruit of a tree yielding seed; to you it shall be for meat.

There are those that believe they did. Look Joe Biden for example.

Always walking with a slight hitch in his step. Joe of course would

be a skinny ape. Not near the power of the Silver Back Rhuwandan

male. Joe most likely would get his frail *** tore up by a Spider Monkey.

Well humans are apes, and they evolved from earlier species of ape, so yeah.

Humans are a subset of the great apes, which are subset of apes, which are a subset of simians (monkeys), which are a subset of primates.  We are all of the above.

Not apes, but we descended from one single species of ape. Not in one single step but through a series of at least several different intermediate species. The closest living relative of modern humans is the chimpanzee. The next closest relative is the gorilla and the orangutan is our next closest relative after the gorilla. Fossils that are intermediate between apes and humans are called ape-men or australopithecines (southern apes). They have ape-like skulls, with small brains, protruding jawlines and heavy brow ridges, but they walk on 2 legs. Our immediate ancestor is Homo erectus, and it is very similar to us except for heavy brow ridges, a slightly smaller brain and a protruding jaw line. Homo erectus is also the ancestor of Neanderthals. Neanderthals are not the same species as modern humans. 

Because of all these fossil evidence plus DNA evidence, almost all scientists agree that we descended from an ape that was a close relative of the chimpanzee. That same ape may have been the ancestor of the chimp also Since the chimpanzee is relatively small, it does not have to walk on its knuckles. The orangutan is larger and it does not walk on its knuckles. Therefore it probably means that the ancestor of both the chimp and us were larger than the chimp, but probably slightly smaller than the gorilla. That means a large ape about the size of the gorilla but probably slightly smaller is the common ancestor of chimps and gorillas, and an ape that is smaller than the gorilla but larger than the chimp is the common ancestor of australopithecines and the chimp. Humans in turn descended from a species of australopithecine. The most famous australopithecine is called Lucy. It lived in Africa abut 4.2 million years ago. Homo erectus evolved from an australopithecine in Africa about 1.8 million years ago. 

No,                      

Not according to the Bible, which is God's word of truth. (Genesis 1:26) "Then God said: “Let us make man in our image, according to our likeness, and let them have in subjection the fish of the sea and the flying creatures of the heavens and the domestic animals and all the earth and every creeping animal that is moving on the earth.”

(Genesis 2:7) "And Jehovah God went on to form the man out of dust from the ground and to blow into his nostrils the breath of life, and the man became a living person."

Humans are apes. So yes.

All are from a common ancestor.