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 Magna Cum Laude in Canon Law from the Pontifical University of St. Thomas Aquinas, both in Rome, Italy. 

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. Fr. Esquiliano also serves as chaplain of the Sioux City Police Department, and sits on the Board of Directors of MercyOne Siouxland.

Father Esquiliano had previously 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.