Well Darwin never said we came from monkeys, but that homo sapiens are related to a relative that branched off from monkeys. And I don't get why people are "insulted" to believe we may be related to monkeys and primates or other animals.
Humans are animals. We're on the same spectrum, we're as much a part of the animal kingdom as monkeys, giraffes, and lions and zebras. And that, to me, is pretty damn beautiful. We're not some special Saintly concoction of unicorn farts and sunshine - we're animals and we're related to other animals. What's so difficult to accept about that????