Yes, obviously.
Based on the current diversity of human genes, it was somewhere in the range of 100,000 - 300,000 years ago.
Edit: regarding Adam, Eve, Noah, and cabbages:
Our Y-chromosomes probably converge more recently than our mitochondria, because it was far more common for a man to have children with many women than for a woman to have children with many men.
Let's call this most recent common ancestor Noah. Noah was not the first human; he may have been very recent compared to human divergence from apes. Noah's mother is necessarily also our common ancestor, as is her father, and so on. Noah and his wives and all other humans living at that time (whose male lines have died out) were descended from some common ancestor - let's call that one Seth.
All of the apes living today had a common ancestor. Let's call him Cain. Seth and Cain also had a common ancestor.
And let's call the cabbage ancestor Polonius (I can't think of a Biblical cabbage). You have to go really, really far back to find Seth and Polonius's common ancestor, past y-chromosomes, past mitochondria, back billions of years to a single-celled organism floating in the ocean. At this point it feel weird to call this an "ancestor." It probably didn't reproduce sexually. The billions of years of mutations have made our DNA very different from its DNA. But it did exist, the cell that provided the template for all modern eukaryotes.