Probably when we first started using stone, which would actually last long enough to make it into history.
The very nature of a bridge over a river also means the river is likely to change course and wipe out the bridge and foundations, so it's possible a number of crossings have been destroyed that are older.
bridges that survived in some form in the archeological record. there were almost certainly bridges - logs, rope bridges, etc., that predated these - but these survived in some preserved form - whether the wood was preserved or the cut stone foundations were preserved - there's evidence.