
Homo Sapiens–that is, us, modern humans, are about 200-300,000 years old. Our ancestor, Homo heidelbergensis, lived in Africa around 700,000-300,000 years ago.
Around 700,000 years ago, another group of humans split off from the main group. By 400,000 years ago, their descendants, Homo neanderthalensis–Neanderthals–had arrived in Europe, and another band of their descendants, the enigmatic Denisovans, arrived in Asia.
While we have found quite a few Neanderthal remains and archaeological sites with tools, hearths, and other artifacts, we’ve uncovered very few Denisovan remains–a couple of teeth, a finger bone, and part of an arm in Denisova Cave, Russia. (Perhaps a few other remains I am unaware of.)
Yet from these paltry remains scientists have extracted enough DNA to ascertain that no only were Denisovans a distinct species, but also that Melanesians, Papuans, and Aborigines derive about 3-6% of their DNA from a Denisovan ancestors. (All non-African populations also have a small amount of Neanderthal DNA, derived from a Neanderthal ancestors.)
If Neanderthals and Homo sapiens interbred, and Denisovans and Homo sapiens interbred, did Neanderthals and Denisovans ever mate?

Yes.
The girl, affectionately nicknamed Denny, lived and died about 90,000 years ago in Siberia. The remains of an arm, found in Denisova Cave, reveal that her mother was a Neanderthal, her father a Denisovan.
We don’t yet know what Denisovans looked like, because we don’t have any complete skeletons of them, much less good skulls to examine, so we don’t know what a Neanderthal-Denisovan hybrid like Denny looked like.
But the fact that we can extract so much information from a single bone–or fragment of bone–preserved in a Siberian cave for 90,000 years–is amazing.
We are still far from truly understanding what sorts of people our evolutionary cousins were, but we are gaining new insights all the time.