A study recently released by Indiana University looking at types of DNA mutations found that "the average age that humans had children throughout the past 250,000 years is 26.9. Furthermore, fathers were consistently older, at 30.7 years on average, than mothers, at 23.2 years on average, but the age gap has shrunk in the past 5,000 years, with the study’s most recent estimates of maternal age averaging 26.4 years. The shrinking gap seems to largely be due to mothers having children at older ages."
There is a chart available at the website showing how this changed over time, but the time dimension is measured in generations (on a logarithmic scale), so it's not real easy to translate into years.