Joshua is the son of Evangelist Rudy Guerra. At the age of 5, Joshua was already sharing Christian songs where his dad was ministering. It was at one of these services, that Manny Guerra, brother of Rudy Guerra, heard Joshua sing for the first time. Manny was so moved by Joshua's confidence and innocence that he told Rudy he had an idea. They brought Joshua into the recording studio and recorded 8 songs. Manny added voices that sounded like "chipmunks", and that's where Joshua and Friends was born. At 5 1/2 years of age, Joshua was performing before thousand of children at the Olympic Auditorium in Los Angeles, California, at a children's festival.