From the pilot (roughly.)
"True, we did not have conflict with them until we helped our neighbours, the Hassaris, take back their world - unjustly taken from them by the Cylons." (Adama)
So - the Colonials had contact with the Cylons before the war, but for how long is unknown.
From "War of the Gods" (roughly.)
"For my essence to have been inscribed upon their machine leader, this would have had to have occurred a thousand yahrens ago" (Iblis)
This gives a very interesting timeframe for the dominance of the machine creations in Cylon culture.
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