Guerrero's early musical education was with his older brother Pedro and after that with the famous composer Cristóbal de Morales.
After several decades of working and traveling throughout Spain and Portugal, sometimes in the employ of emperor Maximilian II, he went to Italy for a year (1581–1582) where he published two books of his music.
His adventure included visits to Damascus, Bethlehem, and Jerusalem; on the return trip his ship was twice attacked by pirates, who threatened his life, stole his money, and held him for ransom.
He was able to return to Spain; unfortunately he had no money, and endured a series of misfortunes, including some time spent in debtors' prison.
His book on his adventurous visit to the Holy Land was published in 1590 and was a popular success (it is reasonable to suppose that Cervantes knew it).