Scientific evidence suggests that Madagascar originated from a severe earthquake that separated it from Africa about 200 million years ago. This separation from continental mainland caused the island to drift 250 miles northeast and settled for about 35-45 million years. The evolutionary history of lemurs occurred in isolation from other primates, on the island of Madagascar, for at least 40 million years. Lemurs are primates belonging to the suborder Strepsirrhini, which branched off from other primates less than 63 mya (million years ago). They share some traits with the most basal primates, and thus are often confused as being ancestral to modern monkeys, apes, and humans. Instead, they merely resemble ancestral primates.

Lemurs are thought to have evolved during the Eocene or earlier, sharing a closest common ancestor with lorises, pottos, and galagos (lorisoids). Fossils from Africa and some tests of nuclear DNA suggest that lemurs made their way to Madagascar between 40 and 52 mya. Other mitochondrial and nuclear DNA sequence comparisons offer an alternative date range of 62 to 65 mya. An ancestral lemur population is thought to have inadvertently rafted to the island on a floating mat of vegetation, although hypotheses for land bridges and island hopping have also been proposed. The timing and number of hypothesized colonizations has traditionally hinged on the phylogenetic affinities of the aye-aye, the most basal member of the lemur clade.

More Info: en.wikipedia.org