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We don't really descend from Apes, but Hominids and Apes descend from the same Primates. Genetics proves without a doubt this relation.
If i remember correctly, Hominids actually have one less chromosome than Primates, one of our chromosome results from the merging of two chromosomes that exist in Primates. It is believed that several million years ago a female Primate was born with this chromosomic abnormality (it is highly unlikely that such a chromosomic accident would occur in more than one individual), this abnormality was reinforced in the descendants of this female. Breeding between "regular" Primates and "mutated" Primates became impossible, only the mating of two "mutated" Primates would give a viable birth, therefore reinforcing again the mutation. Those "mutated" Primates are what we call today the Hominid family, it originated from one single female who was born with a chromosomic abnormality (this theory is sometimes called the "Eve theory" like Kate said).
It is believed today that genetic and chromosomic mutations are the main way species evolve and new species are created.
I also wanted to say that you can actually observe evolution in the growth of Primate fetuses, it's like watching a summary of billions of years of evolution. During its first weeks a Primate fetus is very similar to a fish fetus, then it is very similar to a reptile fetus, then it takes the form of a lower mammal fetus (like a rodent for example), and finally it takes the characteristics of a Primate.
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