Larry Moran on the Sandwalk blog had a great illustration of what portion of the common descent of life on earth we're discussing when looking at the Cambrian explosion. It's the bit circled in red
Figure adapted from Keeling, P.J., Burger, G., Durnford, D.G., Lang, B.F., Lee, R.W., Pearlman, R.E., Roger, A.J. & Gray, M.W. (2005) The tree of eukaryotes. Trends in ecology & evolution 20:670-676. [doi: 10.1016/j.tree.2005.09.005]
Trends in Ecology and Evolution - The tree of eukaryotes
Figure adapted from Keeling, P.J., Burger, G., Durnford, D.G., Lang, B.F., Lee, R.W., Pearlman, R.E., Roger, A.J. & Gray, M.W. (2005) The tree of eukaryotes. Trends in ecology & evolution 20:670-676. [doi: 10.1016/j.tree.2005.09.005]
Trends in Ecology and Evolution - The tree of eukaryotes