Since 1987, Felipe has specialized in consultancies, and management of judicial and administrative processes. These processes cover a wide range of matters,  including arbitration, administrative, and civil litigation, as well as subjects related to public procurement or public resources, insurance, fiscal liability, and international liability of the state, occasionally.

In his current role, Felipe focuses primarily on formulating strategies for direct dispute resolution and handling highly-complex litigation. His competence extends to judicial representation, structuring of defenses in fiscal liability and administrative sanctioning processes, and consulting on contracting and insurance matters.

In addition, his experience includes prominent diplomatic and government duties. Between 1997 and 2000, Felipe served as Advising Minister of the Colombian Embassy to the Government of the United States, and General Director of Special Affairs of the Ministry of Foreign Affairs. He also provided legal advice to the offices of the Minister of National Defense and the First Delegate Attorney before the Council of State, during 1995 and 1996.

He is a founding partner of Esguerra Asesores Jurídicos, now Esguerra JHR.