The song reached number 20 in the US on the Billboard Hot 100, as well as number six on the Hot 100 Airplay. It was also a Top 5 hit in the UK, reaching number two. "Just the Two of Us" was one of 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 accompanying music video features Smith playing with his son, Trey, as well as numerous clips of several other famous men with their children.
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 Trey, and other celebrity fathers, including Babyface, Montell Jordan, James Lassiter, Keenen Wayans, Brian McKnight, Magic Johnson, and Muhammad Ali (whom Smith later played in a 2001 biopic). The video also features Smith's wife Jada Pinkett Smith pregnant with the couple's first child Jaden, and also features Will's father, younger brother, and two sisters.