Choloepus is a genus of xenarthran mammals of Central and South America within the monotypic family Choloepodidae, consisting of two-toed sloths, sometimes also called two-fingered sloths. The two species of Choloepus, Linnaeus's two-toed sloth and Hoffmann's two-toed sloth, were formerly believed on the basis of morphological studies to be the only surviving members of the sloth family Megalonychidae, but have now been shown by molecular results to be closest to extinct ground sloths of the family Mylodontidae.

Mylodontidae is a family of extinct South American and North American ground sloths within the suborder Folivora of order Pilosa, living from around 23 million years ago (Mya) to 11,000 years ago. This family is most closely related to another family of extinct ground sloths, Scelidotheriidae, as well as to the extant arboreal two-toed sloths, family Choloepodidae; together these make up the superfamily Mylodontoidea. Phylogenetic analyses based on morphology uncovered the relationship between Mylodontidae and Scelidotheriidae; in fact, the latter was for a time considered a subfamily of mylodontids. However, molecular sequence comparisons were needed for the correct placement of Choloepodidae. These studies have been carried out using mitochondrial DNA sequences as well as with collagen amino acid sequences. The latter results indicate that Choloepodidae is closer to Mylodontidae than Scelidotheriidae is. The only other living sloth family, Bradypodidae, belongs to a different sloth radiation, Megatherioidea.