>From Family Tree DNA:
A centimorgan is a unit of measure representing a 1% chance that a region
of DNA will recombine in a single generation. A centimorgan block
represents a continuous region of markers that HAVE NOT recombined and is
shared between two individuals. The longer the block, the higher the
probability a recombination event SHOULD HAVE occurred in that region. When
two individuals have a region in common with a high rate of recombination
they have a high probability of being related.

Wikipedia has some rather detailed information including the math formula:
http://en.wikipedia.org/wiki/Centimorgan

And here's the answer to Doug da Rocha Holmes' question about how much does
a parent have in common, a first cousin, etc:
http://www.isogg.org/wiki/Identical_By_Descent_segment

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