A native of Chetumal, Quintana Roo, Mexico, Father David Esquiliano attended the Universidad del Valle de Mexico in Queretaro, where he studied Computer Engineering. After working in software development he frequented seminary studies at Conception (Mo.) Seminary College and the Pontifical North American College in Rome.

He earned a Bachelor's Degree in Sacred Theology from the Pontifical Gregorian University, and a Licentiate in Canon Law from the Pontifical University of St. Thomas Aquinas. 

He was ordained on June 29, 2013, at Cathedral of the Epiphany.

Besides being the Rector of the Cathedral of the Epiphany, and Pastor of the Cathedral Parish, Fr. Esquiliano is also the Judicial Vicar for the Diocese of Sioux City, and the President of the Board of the Siouxland Soup Kitchen.

Father Esquiliano has also served at St. Mary Parish, Storm Lake; St. Joseph Parish, Schaller; St. Mary School, Storm Lake; St. Thomas Parish, Manson; St. Mary Parish, Pomeroy and St. Francis Parish, Rockwell City.