If all of Earth's history were squashed into one school day, dinosaurs would have walked around for about 30 minutes. Humans would arrive in the very last 2 seconds.
Every time you see a sparrow on the pavement, a chicken at lunch, or a pigeon at the park — you're looking at a tiny dinosaur. Birds are the only kind of dinosaur that lived through the asteroid.
So humans and dinosaurs have met. Just feathered, smaller versions.