IMHO, we have probably 2 to 4 centuries of the Modern Warm Period left. The current one has been going on since mid 19th century (call it 2 centuries). And the prior ones going back to Moses each lasted 4 to 6 centuries.
The warming and cooling periods I'm talking about aren't technically "ice ages" (I hate the cooling period from AD 1300 to 1800's being called the "Little Ice Age"). But those cooling periods were horrible times to live in (lower crop yields, less predictable rain patterns, more deaths by plague). And we have historical accounts of people with written language (I repeat myself) to help us understand exactly how bad those cooling periods were (unlike the cool phases of the glacials and real ice ages).
If you expand out further you get into glacial cycles that happen every 80K to 200K years (see graph below). We're currently in the Modern Warm Period (right part of graph above) of the Holocene glacial (extreme right part of graph below). 
If you expand out further you get into true ice ages that happen every 100 million years each (graph below). We're technically in the Late Cenozoic Ice Age (the term "ice age" means the entire 100 million year cycle, not just the cold phase). 