It's easier to answer the question by how many years have the Republicans controlled both houses since 1950...the answer...only four...and two of those four the majority in the Senate was 51-49, a razor thin and actually Democrat controlled since at least four Republican senators were liberal in voting.
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Legislative bodies are difficult to 'control' all the time, but you are asking "For how long have the Democrats controlled Congress?"
In fact, if you are asking by the numbers, the United States House of Representatives (half of Congress) has more Republicans than Democrats at this moment in History.
The United States Senate (the other half of Congress) is narrowly Democratic. And the control of the Senate and of the House has swung back and forth since The Republican Revolution of 1994 mid-term elections which ended 40 years of Democratic majorities in Congress. Not necessarily 'controlling' but at least in numerical superiority.
Well, for the past 2 years, the Democrats have held the majority, and control, in the House. They will now remain in power for atleast 2 more years. The Republicans held the majority for quite a while before that.
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As of 2011, Gallup polling found that 31% of Americans identified as Democrats (tying a 23-year low), 27% as Republicans, and 40% as independents (largest in 60 years). Nevertheless, since more independents leaned to the Republicans, when including the leaners, the democrats and republicans ended up tied at 45 percent (from wikipedia)
It has been controlled by the Democratic Party since 1970 except during 1995 and 1996.
There are about 72 million registered democrats in the U.S.