Here are the ice age cycles over the past 2 billion years. We are currently in the Late Cenozoic Ice Age, which has been going on 30-40 million years.
On the far right of that graph are the interglacial cycles within the past half a million years. We are currently in the Holocene interglacial cycle (began maybe 12K years ago).
Then on the far right of that graph are the centuries long warming and cooling periods over the past 10,000 or so years. We are currently in the Modern Warm Period (about 2 centuries long so far), which is part of the larger Holocene Glacial, which is part of the even larger Late Cenozoic Ice Age.
