You could use a Tuple for this:
Mapper.CreateMap<Tuple<People, Phone>, PeoplePhoneDto>()
    .ForMember(d => d.FirstName, opt => opt.MapFrom(s => s.Item1.FirstName))
    .ForMember(d => d.LastName, opt => opt.MapFrom(s => s.Item1.LastName))
    .ForMember(d => d.Number, opt => opt.MapFrom(s => s.Item2.Number ));
In case you would have more source models you can use a different representation (List, Dictionary or something else) that will gather all these models together as a source. 
The above code should preferaby be placed in some AutoMapperConfiguration file, set once and globally and then used when applicable. 
AutoMapper by default supports only a single data source. So there is no possibility to set directly multiple sources (without wrapping it up in a collection) because then how would we know what in case if for example two source models have properties with the same names?
There is though some workaround to achieve this: 
public static class EntityMapper
{
    public static T Map<T>(params object[] sources) where T : class
    {
        if (!sources.Any())
        {
            return default(T);
        }
        var initialSource = sources[0];
        var mappingResult = Map<T>(initialSource);
        // Now map the remaining source objects
        if (sources.Count() > 1)
        {
            Map(mappingResult, sources.Skip(1).ToArray());
        }
        return mappingResult;
    }
    private static void Map(object destination, params object[] sources)
    {
        if (!sources.Any())
        {
            return;
        }
        var destinationType = destination.GetType();
        foreach (var source in sources)
        {
            var sourceType = source.GetType();
            Mapper.Map(source, destination, sourceType, destinationType);
        }
    }
    private static T Map<T>(object source) where T : class
    {
        var destinationType = typeof(T);
        var sourceType = source.GetType();
        var mappingResult = Mapper.Map(source, sourceType, destinationType);
        return mappingResult as T;
    }
}
And then: 
var peoplePhoneDto = EntityMapper.Map<PeoplePhoneDto>(people, phone);
But to be quite honest, even though I am using AutoMapper for already a few years I have never had a need to use mapping from multiple sources. 
In cases when for example I needed multiple business models in my single view model I simply embedded these models within the view model class. 
So in your case it would look like this:
public class PeoplePhoneDto {
    public People People { get; set; }
    public Phone Phone { get; set; }
}