Written and produced by Colombian duo Cali y El Dandee, the song was released on 17 November 2020 by Universal Music as the band's comeback single.

[4] On 23 February 2023, with the intention of promoting the group's reunion and sixth tour, a new version of the song was released, with the title "S.H.E.A", with the newly recorded vocals of Dulce María.

[5] On 22 December 2019, eleven years after the separation of RBD, Anahí, Alfonso Herrera, Christian Chávez, Christopher Uckermann, Dulce María and Maite Perroni, met and posted photos of a reunion on social media, raising suspicions of a supposed return of the group in the future.

[7] On 27 August 2020, Anahí, Chávez, Uckermann, María and Perroni each posted a video and mysterious link on their social networks asking fans to subscribe to a page titled "RB2 World".

On 23 October, Anahí announced during an interview with the Mexican program Hoy, that the group would release a new song and that it would serve as promotion for the virtual event.

[15] On 23 February 2023, the group released a second version of the song containing new vocals from María, in order to promote their reunion concert series Soy Rebelde Tour.

On 3 December, the clip was released in full with a futuristic theme, showing the four members, in avatar form, inside a ship destined for the virtual event.

[18] During a live on YouTube, the video's director, Peter Odor, clarified that he cut the former members from the photo due to image rights, as they were not part of the project.

After its release, "Siempre He Estado Aquí" entered the US iTunes Top50 list, as well as topping the store's download rankings in several countries including Mexico, Slovenia and Latin America.