Centromeres are, as their name suggests, towards the center of a chromosome, and telomeres are at the two ends [kind of like an engine/caboose combo]. The centromeres are used by the spindle apparatus, and thin threads attach to them to help pull apart the replicating chromosome [which is incredibly long] to keep them from getting mixed up with other chromosomes that are also duplicating. The telomeres are to signal the end of the chromosome, and to keep it from sticking to another chromosome.
DNA is quite 'sticky', which is why the two halves stick together [review your chemistry for the Hydrogen bonding].
By accident, all kinds of mistakes can happen during the replication process, which are usually lethal to that particular cell.
One of the mistakes is that two chromosomes could become attached to each other, end to end, at the telomeres, which would stick together. Normally, that would prove to be a fatal mistake.
For a reason not yet understood, two primate chromosomes in the human ancestral lineage stuck together at the telomeres, but that mistake did not prove fatal, and instead appeared to present a slight advantage [positive mutation]. What that advantage was is not presently known. However, that individual which now had two chromosomes fused into one passed that mutation to his/her offspring, and it proliferated in the community of its clan due to the advantage it conferred, eventually being present in the entire clan and its descendants [likely an early Homo or Austrolopithecus genus].
It would be interesting if we could ever extract DNA from preserved Homo bones [like we've done from some T-Rex bones] to determine if they had that mutation. When exactly it occurred is not presently known, though there will likely be some effort at genetic-clock analysis to determine that dating.
What is quite interesting is that the DNA from the two combined chromosomes matches almost exactly with the two separate chromosomes in the other primates.
The retrovirus-markers, which are present in the primates showing infected DNA passed to offspring and eventually existing in the entire community/species are also present in the human lineage in the same locations. Since they provide no net benefit or detriment, they are part of the 'junk' DNA that we share in common with the primates, showing our common linkage in our ancient ancestors.
Creationists, of course, have to account for this evidence [as they do for all other evidence of evolution] by asserting that the 'Creator' deceptively made these changes to make it appear as if evolution had occurred, when it had not, as a test of our faith. Either way, it is interesting to keep looking and finding these evidences of evolution.