Imagine the 1st guy that patted one that finally came in from outta the dark around a campfire 10,s of 1000,s yrs ago for a peice of meat out of his hand.

Imagine the wolf/dog overcoming its instinct to do that.

Or stuff along those lines.....

Instead of being competitors
Both started working together.
Strengths of each multiplied by working together.

Deal was sealed .....
2 species that evolved together.