early 15c., "servants of a household," from Latin familia "family servants, domestics collectively, the servants in a household," thus also "members of a household, the estate, property; the household, including relatives and servants," abstract noun formed from famulus "servant, slave," which is of unknown origin.
The Latin word rarely appears in the sense "parents with their children," for which domus (see domestic (adj.)) was used. Derivatives of famulus include famula "serving woman, maid," famulanter "in the manner of a servant," famulitas "servitude," familiaris "of one's household, private," familiaricus "of household slaves," familiaritas "close friendship."
In English, sense of "collective body of persons who form one household under one head and one domestic government, including parents, children, and servants, and as sometimes used even lodgers or boarders" [Century Dictionary] is from 1540s. From 1660s as "parents with their children, whether they dwell together or not," also in a more general sense, "persons closely related by blood, including aunts, uncles, cousins;" earlier "those who descend from a common progenitor, a house, a lineage" (1580s). Hence, "any group of things classed as kindred based on common distinguishing characteristics" (1620s); as a scientific classification, between genus and order, from 1753.
Latin familia often was glossed in Old English by hired, hyred "household, family, retinue" (for which see hide (n.2), and also by hiwscipe, hiwræden, hiwan "members of a family, household, or religious house," which is cognate with Old Norse hjon "one of the household; married couple, man and wife; domestic servant," and with Old High German hiwo "husband," hiwa "wife," also with Lithuanian šeimyna "family," Gothic haims "village," Old English ham "village, home" (see home (n.)). A 15c. glossary has, for Latin familia, Middle English a menge, from Anglo-French maisnie "the household, the whole attendance upon the personal establishment of the feudal lord."
As an adjective from c. 1600; with the meaning "suitable for a family," by 1807. Family values is recorded by 1966. Phrase in a family way "pregnant" is from 1796. Family circle is 1809; family man "man devoted to wife and children, man inclined to lead a domestic life" is 1856 (earlier it meant "thief," 1788, from family in a slang sense of "the fraternity of thieves"). Family tree "graph of ancestral relations" attested from 1752.
He was dressed in his best Coat, which had served him in the same Capacity before my Birth, and possibly, might be but little short in Antiquity, to the Root of his third Family Tree; and indeed, he made a venerable Figure in it. ["A Genuine Account of the Life and Transactions of Howell ap David Price, Gentleman of Wales," London, 1752]
"a featherless plantigrade biped mammal of the genus Homo" [Century Dictionary], Old English man, mann "human being, person (male or female); brave man, hero;" also "servant, vassal, adult male considered as under the control of another person," from Proto-Germanic *mann- (source also of Old Saxon, Swedish, Dutch, Old High German man, Old Frisian mon, German Mann, Old Norse maðr, Danish mand, Gothic manna "man"), from PIE root *man- (1) "man." For the plural, see men.
Sometimes connected to root *men- (1) "to think," which would make the ground sense of man "one who has intelligence," but not all linguists accept this. Liberman, for instance, writes, "Most probably man 'human being' is a secularized divine name" from Mannus [Tacitus, "Germania," chap. 2], "believed to be the progenitor of the human race."
Specific sense of "adult male of the human race" (distinguished from a woman or boy) is by late Old English (c. 1000); Old English used wer and wif to distinguish the sexes, but wer began to disappear late 13c. and was replaced by man. Universal sense of the word remains in mankind and manslaughter. Similarly, Latin had homo "human being" and vir "adult male human being," but they merged in Vulgar Latin, with homo extended to both senses. A like evolution took place in Slavic languages, and in some of them the word has narrowed to mean "husband." PIE had two other "man" roots: *uiHro "freeman" (source of Sanskrit vira-, Lithuanian vyras, Latin vir, Old Irish fer, Gothic wair; see *wi-ro-) and *hner "man," a title more of honor than *uiHro (source of Sanskrit nar-, Armenian ayr, Welsh ner, Greek anēr; see *ner- (2)).
Man also was in Old English as an indefinite pronoun, "one, people, they." It was used generically for "the human race, mankind" by c. 1200. As a word of familiar address, originally often implying impatience, c.1400; hence probably its use as an interjection of surprise or emphasis, since Middle English but especially popular from early 20c.
As "a woman's lover," by mid-14c. As "adult male possessing manly qualities in an eminent degree," from 14c. Man's man, one whose qualities are appreciated by other men, is by 1873. Colloquial use of the Man for "the boss" is by 1918. To be man or mouse "be brave or be timid" is from 1540s. Meaning "piece with which a game (especially chess) is played" is from c. 1400.
Man-about-town "man of the leisure class who frequents clubs, theaters, and other social resorts" is from 1734. Man of the world is from mid-14c. as "secular man, layman;" by early 15c. as "man experienced in the ways of the world, one able to take things in stride." To do something as one man "unanimously" is from late 14c.
So I am as he that seythe, 'Come hyddr John, my man.' 
MANTRAP, a woman's commodity. [Grose, "Dictionary of the Vulgar Tongue," London, 1785]
At the kinges court, my brother, Ech man for himself. [Chaucer, "Knight's Tale," c. 1386]