They are the bipedal apes, which comprises humans, that is, Homo sapiens, and other members of the genus Homo and species of Australopithecus, Ardipithecus, and Paranthropus.
A hominid refers to a member of the family Hominidae, the great apes, that is, gorillas, orangutans, humans, and chimpanzees.
It was about two million years ago that the initial ancestors of humans moved northwards from their homelands, that is, out of Africa.
The first human species to move out of Africa would have been the African Homo erectus or Homo ergaster.
Homo erectus, also known as the upright man, is considered as the ancestor of modern humans or Homo sapiens.