"Estoy Aquí" was serviced as the lead single from "Pies Descalzos" in 1995. It was met with positive reviews from music critics, who recognized it as a stand-out track from its parent album. Additionally, it became Shakira's first recording to attain commercial success. The song peaked at numbers 1 and 2 on the "Billboard" Latin Pop Songs and Latin Songs component charts. "Estoy Aquí" became the first track by Shakira to receive an accompanying music video, and was directed by Simon Brand. The setting depicts a barn during the fall and wintertime, and shows a black-haired Shakira performing the song with her guitar.