Sheila E. Says It's a 'Dream Come True' to Cover Celia Cruz's 'Bemba Colorá' with Gloria Estefan (Exclusive)

"She was an incredible singer and entertainer," Sheila E., who teamed up with Estefan and Mimy Succar for the cover, tells PEOPLE of the late Cruz

Sheila E. and Gloria Estefan are paying tribute to the late Celia Cruz.

The two music icons have teamed up with vocalist Mimy Succar on a cover of Cruz's 1966 hit "Bemba Colorá" for Sheila E.'s upcoming salsa album Bailar, and PEOPLE has the exclusive premiere of the song's music video.

"Growing up listening to Celia Cruz as a young musician blessed me, as I was also able to perform with her. She was an incredible singer and entertainer! I knew this was the song to pay tribute to the queen herself," Sheila E., 66, tells PEOPLE before adding of Estefan, "No one could sing this song better than her."

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Succar — "an amazing singer," notes the superstar drummer — "added flavor" to the new version of "Bemba Colorá," produced by her son Tony, who worked on the entire Bailar album.

"This is a dream come true," says Sheila E. "We love you, Celia."

Estefan, 66, performed live with Cruz before her death at age 77 in 2003, and the pair released a duet, "Tres Gotas De Agua Bendita," in 2000. "Having gotten the honor of singing with the queen herself I jumped at the chance to sing on one of her biggest hits," the Latin pop legend tells PEOPLE.

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"It was an instant 'yes' when my good friend Sheila E. invited me to be on her new salsa album Bailar with her and the amazing Mimy Succar in honor of Celia," continues Estefan. "I had a lot of fun singing to that amazing band with Sheila on drums and percussion. Working with an incredible producer, Tony Succar, was a joy!"

The new "Bemba Colorá" music video opens with Sheila E. playing dominos and smoking cigars with friends, one of whom suggests she play drums for the group. As she and others begin performing a high-energy percussive beat, the song begins, and all three musicians are seen singing its lyrics and dancing together.

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Toward the end of the clip, the low-key function transforms into a nighttime salsa party — complete with impressive dancers in bright, sparkly attire.

According to a press release, Bailar "seamlessly blends traditional salsa elements with Sheila E.'s signature musicality, resulting in a collection of songs that feel both nostalgic and refreshingly innovative." The album is set for an April 5 release.

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