https://en.wikipedia.org/wiki/Quaternary_glaciation

According to wiki, 80% of the time Earth is in a greenhouse state (ie no glaciers or polar ice caps) and 20% of the time in an icehouse state (ie glacier and polar ice caps) but within the icehouse state 80% is in glacial periods (ie glaciers stable or advancing) and the remaining 20% is interglacial (glaciers retreating).

So right now we are in a state that occurs something like 4% of the time, which is a warm period within an Ice Age.