Most species of large, placental herbivore belong to a group broadly defined as the "ungulates". There are exceptions; animals such as elephants, which were once thought to be related to the ungulates, but later turned out to have a completely different origin, some of the larger primates, and the occasional oddity such as the panda. In general though, outside of Australia, the ungulates have been the most successful of the large mammalian herbivores. The group includes two, related, orders of mammals. The even-toed ungulates, including antelopes, cattle, deer, and pigs, among others, are by far the larger group today, while the odd-toed ungulates, which include horses, rhinos, and tapirs, are less numerous, but just as familiar.
Both of these groups, and possibly some of the weird-looking
prehistoric herbivores of South America, are descended from a general type of animal called "
condylarths". The condylarths are probably not a real evolutionary group of animals, in that they aren't all necessarily closely related, and even if they were, they would just be a rough assemblage of things related to the modern groups, rather than a group in their own right. They may well be what is called a "wastebasket taxon" - a handy place to put some animal whose relationship to other animals you aren't really sure of yet.