They inherited it from their common ancestor who was most likely a species of cynodont. From Wordnik.com. [What a difference a day makes. - The Panda's Thumb] Reference
They noted that its position is ‘dubious, even at this level, but not a nonmammalian cynodont’ (p. 43). From Wordnik.com. [Archive 2006-05-01] Reference
He concluded that ‘the fossils currently available do not justify classification of Chronoperates as a non-mammalian cynodont’ (p. 278). From Wordnik.com. [Archive 2006-05-01] Reference
Probainognathus, a small cynodont reptile from the Triassic sediments of Argentina, shows characters in the skull and jaws far advanced toward the mammalian condition. From Wordnik.com. [What a difference a day makes. - The Panda's Thumb] Reference
Later the Italo-Argentine geologist Joaquin Frenguelli collected the first fossil skull of a cynodont from the Ischigualasto formation and sent it to the La Plata Museum where it was described by the palaeontologist Angel Cabrera in 1944. From Wordnik.com. [Ischigualasto-Talampaya, Argentina] Reference
I read "Tetrapod burrows from the Triassic of Antarctica," which demonstrates that fossil burrows found at Wahl Glacier in the Beardmore Glacier region of the central Transantarctic Mountains (Lovecraft's "Mountains of Madness") were made by an animal similar to the cynodont Thrinaxodon. From Wordnik.com. [Halloween the Fourth] Reference
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