The song reached #20 in the U.S. on the BillboardHot 100, as well as #6 on the Hot 100 Airplay. It was also a Top 5 hit in the UK, where it reached #2. "Just the Two of Us" was one of Will Smith's biggest solo hits. Smith originally wrote a children's book with the same title and lyrics. For his album, he performed it in rap form. Instrumentation was provided by "Sauce" from the R&B group "Somethin' for the People". The song was parodied by Dr. Evil in the 1999 film Austin Powers: The Spy Who Shagged Me.
The music video, directed by Bob Giraldi, begins with Smith playing with his son, Trey. Before the song starts, Trey says, "Now, dad, this is a very sensitive subject." The remainder of the video features clips of fathers with their children, including Smith playing with his son, and other celebrity fathers, including Babyface, Nas, James Lassiter, Damon Wayans, Magic Johnson, and Muhammad Ali (whom Smith later played in a biopic). The video also features Smith's wife Jada pregnant with the couple's first child Jaden, and also features Smith's father, younger brother, and two sisters.