The dog (Canis lupus familiaris[1]) is a domesticated form of the gray wolf, a member of the Canidae family of the order Carnivora. The term is used for both feral and pet varieties. The domestic dog has been one of the most widely kept working, hunting and companion animals in human history.
There's no evidence they did. Oldest known domesticated dogs date to 31.000 B.C in France but this date is still controversial. It is more safe to assume that man's best friend was domesticated only about 7-12.000 years ago.
Australopithecines and early hominids probably had to deal with wolves, but this wasn't a friendly relationship.